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ZJU-Robotics-Lab / GEM

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.
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get stuck in th composingGlobalMap #5

Closed TT22TY closed 2 years ago

TT22TY commented 2 years ago

@MaverickPeter hello, I tried to test the main branch with test.bag on lidar+camera, but it seems that it gets stuck in the composingGlobalMap function, with globalMap_.size()=0. WechatIMG1 Besides, I looked into the code, I was wondering where are the "denseSignal" and "map saving Signal" published. Could you give me some guide to deal with this issue?

Last but not least, looking forward to the merged version for both lidar-only and camera+lidar.

Thank you very much.

Originally posted by @TT22TY in https://github.com/ZJU-Robotics-Lab/GEM/issues/3#issuecomment-874620567

MaverickPeter commented 2 years ago

@TT22TY Hi, the dense mapping signal and map saving signal are interfaces for other nodes, or you can simply publish it in your terminal by rostopic pub. As for the test.bag with the lidar-camera mapping, I suggest using a voxel filter nodelet to downsample the point cloud first. Also, I'll try to reproduce this problem ASAP.

TT22TY commented 2 years ago

@TT22TY Hi, the dense mapping signal and map saving signal are interfaces for other nodes, or you can simply publish it in your terminal by rostopic pub. As for the test.bag with the lidar-camera mapping, I suggest using a voxel filter nodelet to downsample the point cloud first. Also, I'll try to reproduce this problem ASAP.

Thank you very much!

TT22TY commented 2 years ago

@TT22TY Hi, the dense mapping signal and map saving signal are interfaces for other nodes, or you can simply publish it in your terminal by rostopic pub. As for the test.bag with the lidar-camera mapping, I suggest using a voxel filter nodelet to downsample the point cloud first. Also, I'll try to reproduce this problem ASAP.

Hello, @MaverickPeter after using a voxel filter to downsample first, as well as publish the dense mapping signal and map saving signal in terminal by rostopic pub, the problem still exists.

MaverickPeter commented 2 years ago

Hi @TT22TY, can you run gem without any signal (especially saving signal) and show the issue screenshot for me? The map saving signal is not available at the very beginning of the mapping process.

TT22TY commented 2 years ago

Hi @TT22TY, can you run gem without any signal (especially saving signal) and show the issue screenshot for me? The map saving signal is not available at the very beginning of the mapping process.

@MaverickPeter Hi, the issue screenshots without any signal published by myself are as below( I just output the globalMap_.size() at the beginning of the "composingGlobalMap" function to try to track the issue): 1 2 3

MaverickPeter commented 2 years ago

Hi @TT22TY , I have figured it out. One flag is not initialized, I have correct it in the released main branch, you can now run it without this issue.

TT22TY commented 2 years ago

Hi @TT22TY , I have figured it out. One flag is not initialized, I have correct it in the released main branch, you can now run it without this issue.

Thank you! @MaverickPeter