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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
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Unable to use Incremental SmoothConstraints Segmentation #119

Open daizhonghao opened 5 years ago

daizhonghao commented 5 years ago

Hi, I am unable to use Incremental SmoothConstraints Segmentation even for the kitti_loop_closure launch file. I do edit the loop closure yaml file, add the normal_estimate_type and the threshold for sc method but non segmentation is publishing. https://github.com/daizhonghao/segmap/blob/11a2917e3c704df7c1a1b84c8cc409188c492b91/segmapper/launch/kitti/kitti_loop_closure.yaml#L56 https://github.com/daizhonghao/segmap/blob/11a2917e3c704df7c1a1b84c8cc409188c492b91/segmapper/launch/kitti/kitti_loop_closure.yaml#L72 https://github.com/daizhonghao/segmap/blob/11a2917e3c704df7c1a1b84c8cc409188c492b91/segmapper/launch/kitti/kitti_loop_closure.yaml#L73

smauq commented 5 years ago

Hi, sorry for the late answer. But it seems one thing you might be missing is the normal estimators.

SegMatch: {
  ...
  normal_estimator_type: "Incremental", #"Incremental", "Simple"
  radius_for_normal_estimation_m: 0.5,
  ...
}