cannot roslaunch kitti_loop_closure correctly when using SmoothnessConstraints for segmentation

ethz-asl / segmap

A map representation based on 3D segments

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cannot roslaunch kitti_loop_closure correctly when using SmoothnessConstraints for segmentation #117

Closed daizhonghao closed 5 years ago

daizhonghao commented 5 years ago

Hi, when change the yaml file for segmenter, I cannot roslaunch kitti_loopclosure correctly when using SmoothnessConstraints for segmentation. The error is [normalestimator.cpp:19] Invalid normal estimator type specified

Is there parameter I need to fed into to the yaml file when I use this method? Thanks

daizhonghao commented 5 years ago

solved by editing kitti_localization.yaml Segmenters: { segmenter_type: IncrementalSmoothnessConstraints # "EuclideanDistance", # min_cluster_size: 100, max_cluster_size: 15000, radius_for_growing: 0.2, sc_smoothness_threshold_deg: sc_curvature_threshold: