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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
1.05k stars 394 forks source link

Failed to find match for field 'ed_cluster_id' #155

Closed Lachiven closed 4 years ago

Lachiven commented 4 years ago

when I use my own pcd file to run location of segmap it has problem like this [ INFO] [1585830123.605698877]: Loading target cloud. I0402 20:22:03.605757 20090 utilities.hpp:24] Loading cloud: /home/zlj/drive.pcd. Failed to find match for field 'ed_cluster_id'. Failed to find match for field 'sc_cluster_id'. I0402 20:22:24.123062 20090 segmatch.cpp:152] Removing too near segments from source map. I0402 20:22:24.420912 20416 segmapper.cpp:121] publishing local maps

and there won't have more information and the rviz showed like this image @rdube

Lachiven commented 4 years ago

also have the same problem when i use the example PCD file [ INFO] [1585831197.689696114]: Number of laser_slam workers: 1 I0402 20:39:57.690075 23436 segmapper.cpp:86] Robot 0 subscribes to /velodyne_points world and velodyne I0402 20:39:57.690119 23436 segmapper.cpp:89] Robot 0 publishes to trajectory and local_map [ INFO] [1585831197.716211162]: Loading target cloud. I0402 20:39:57.716262 23436 utilities.hpp:24] Loading cloud: /home/zlj/drive27_target_map.pcd. Failed to find match for field 'ed_cluster_id'. Failed to find match for field 'sc_cluster_id'. I0402 20:40:31.319193 23436 segmatch.cpp:152] Removing too near segments from source map. I0402 20:40:31.512969 23769 segmapper.cpp:121] publishing local maps

Lachiven commented 4 years ago

sloved when I change the

fifarraj commented 4 years ago

Hey @Lachiven , solved when you changed what? :D

Lachiven commented 4 years ago

Hey @Lachiven , solved when you changed what? :D

Hey @FirasAbiFarraj ,I change the https://github.com/ethz-asl/segmap/blob/master/segmapper/launch/kitti/kitti_localization.launch#L31 to

Lachiven commented 4 years ago

node name="player" pkg="rosbag" type="play" output="screen" args=" -r $(arg play_rate) -s 333 --clock --pause $(arg bag_file)"/
to node name="player" pkg="rosbag" type="play" output="screen" args=" -r $(arg play_rate) -s 0 --clock --pause $(arg bag_file)"/

Lachiven commented 4 years ago

because the markdown something didn't show @FirasAbiFarraj sorry about that. and how do you relocalation with your own date. now I subscribe the tf of loam but works not as normal.