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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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The experiment experience #123

Open robotstar opened 5 years ago

robotstar commented 5 years ago

Hello, in the process of using kitti data to run segmap, the trajectory published by segmap appeared a sudden drift(Fig.1). After analysis, it was found that there was an offset between the odometry I published and that received by segmap(Fig. 2). So the trajectory published by segmap will jump between the odometry I published and the real odometry it recieved. But I do not know why. Can someone explain this phenomenon please? segmap2 Fig. 1 sudden drift of the trajectory published by segmap segmap3 Fig. 2 The top one is the odometry received by the segmap, and the bottom one is the odometry I published, both displayed in the fixed "/world" frame.

sherrygp commented 5 years ago

How do you draw Fig. 1?

robotstar commented 5 years ago

Thanks for your reminding. I find that an odometry has been published in this bag, so there exists a conflict between the odmetry I publish and the bag publish. :)

sherrygp commented 5 years ago

Where did you download your bag? http://robotics.ethz.ch/~asl-datasets/segmap/segmap_data/kitti
There is no odometry data in the package under this address.

robotstar commented 5 years ago

Sorry for my expression error. :(

I downloaded the bag from the website you provide. There is no odometry in the data, and I publish an input odometry in callback function of laser_slam_worker.cpp, that is exactly the odometry in Fig. 1.

I mean that there exists a tf between "velodyne" and "world" in this bag. At the same time, I publish another tf between "velodyne" and "world" using another algorithm, so conflict occurs between them...

Final result is great! Thanks for your reminding~

sherrygp commented 5 years ago

Do you know that how to save the trajectory value of segmap?
What tools do you use to debug this code? Every time I modify the code, I recompile it by read me and run it again. It feels very troublesome.

sherrygp commented 5 years ago

Can you leave a contact information to exchange segmap and vo/laser slam content?

robotstar commented 5 years ago

Sure, you can contact me by the email: liangshuang2017@ia.ac.cn

sherrygp commented 5 years ago

How can I import the true value of the odometer?

brunoeducsantos commented 5 years ago

How do you obtain the tf between velodyne and world from rosbag? When I played the rosbag no tf between velodyne and world is found. @robotstar