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daohu527 / ndt_mapping

Baidu apollo offline mapping tool
Apache License 2.0
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ndt_mapping #13

Closed mbing123 closed 2 years ago

mbing123 commented 2 years ago

Hello,Mr.daohu! my apollo car computer is apollo5.5. And clone the ndt_mapping_r5.0.0. Now GPU compilation and NDT compilation are successful. However, I have the following problems when create a map I want to know what caused this problem, I would appreciate it if you could help me!!! Screenshot from 2022-04-30 18-40-11

daohu527 commented 2 years ago

failed to find match for field 'intensity' is an error report by the pcl library. It may be because the intensity information of the point cloud cannot be read or is wrong, but the intensity information is not currently used in NDT mapping

mbing123 commented 2 years ago

but I can't get a map just like following picture show so, what's wrong what can I do for it Screenshot from 2022-05-03 09-52-16

daohu527 commented 2 years ago

What is your version of Apollo? I found out that the pcl library for apollo 6.0 has been modified and caused the core dump problem.

But your error shows that saving the map has already started. You can check map_ptr is nullptr or it's an error report by PCL

  CHECK(map_ptr != nullptr) << "map is null";
  PointCloudPtr align_map_ptr(new PointCloud());
  pcl::transformPointCloud(*map_ptr, *align_map_ptr, align_pose.matrix().cast<double>());
mbing123 commented 2 years ago

My version of Apollo is r5.5.0, and clone the ndt_mapping_r5.0.0. Screenshot from 2022-05-04 10-51-09

mbing123 commented 2 years ago

In the beginning, it can't compile

Screenshot from 2022-05-04 11-09-08

I then added two lines to the ndt_mapping/BUILD file to make it compile

Screenshot from 2022-05-04 11-15-56

daohu527 commented 2 years ago

@mbing123 I found there is a _mm256_load_pd error. fix it now