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bennihepp / Quad3DR

Quadrotor planning for 3D Reconstruction
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Can't generate candidates viewpoint #2

Open ShaoxuDu opened 4 years ago

ShaoxuDu commented 4 years ago

Hi! I've already used occupancymap_from_colmap to generate a raw octree.Then I run viewpoint_planner_cmdline, and successfully build augment octree, bvh tree and weight grid. But the program failed to generate next viewpoint. I would be most grateful if you could help me.

bennihepp commented 4 years ago

Hi, sorry that you have problems with the viewpoint_planner_cmdline tool. Are you getting some specific error message? I would recommend to use the viewpoint_planner_gui version. This way you would also quickly see if there was a problem with the octree generation etc.

ShaoxuDu commented 4 years ago

Thank you very much! I can generate candidate viewpoints now. However, I continue to get double free or corruption (out) errors when the program runs the statement planner_data.planner->setup(); at motion.h.

bennihepp commented 4 years ago

Sorry to hear that. It might be that something in the underlying OMPL library has changed. Unfortunately, I'm in the middle of moving and don't have my desktop setup where I can compile and run the code. You might have more luck by compiling and running with debug information to see what is causing the double freeing.

ShaoxuDu commented 4 years ago

Thank you very much! I found you forgot to set the pdef of ompl planner. So I modified it and the program can run successfully now.

rocksat commented 4 years ago

@ShaoxuDu Hi, did you able to run viewpoint_planner_gui ? which command line are you using to generate the next viewpoints ?

Thanks

rocksat commented 4 years ago

I guess I met the same problem what failed to generate next viewpoint. The output is like

Initialized viewpoint entries with 100 viewpoints
Sampling viewpoint candidates
Sampling around existing viewpoint
Size of exploration front: 100
Generate next viewpoint result -> 0
Sampled 100 of 1000 viewpoints
Sampling around existing viewpoint
Size of exploration front: 99
Generate next viewpoint result -> 0
Sampled 100 of 1000 viewpoints
Sampling uniformly in pose sample bounding box
Generate next viewpoint result -> 0

I was wondering how did you solved this problem. Any information would be help. Thanks a lot

ke-xie commented 4 years ago

@rocksat hi we got same problem. Did you solve it?