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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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Loop closure launch file needs update #32

Closed hriapatil closed 7 years ago

hriapatil commented 7 years ago

I am unable to see any loop-closure using the KITTI dataset - 2011_09_30_drive_0027 when I launch 'kitti_loop_closure.launch' file. Any suggestions? Thanks!

rdube commented 7 years ago

Hi @hriapatil, the loop closure launch file is outdated and we are planning to release it very soon with instructions to run the loop closure demo (see #3). Otherwise what have you tried to get loop closures? Did you get the localization demo running? Thanks for trying it out!

hriapatil commented 7 years ago

Hi @rdube . I got the localization demo running with KITTI dataset. Look forward to testing the loop closure demo. Currently, I haven't tried any other loop closure techniques.

With regards to the localization module, I understand that the classifier '.xml' file is provided for the KITTI dataset. I was wondering how to create such a classifier file for other datasets?

rdube commented 7 years ago

HI @hriapatil we have now put online the instructions for running the loop-closure demonstration on the KITTI dataset which you can find here: https://github.com/ethz-asl/segmatch/wiki/Demonstrations#closing-loops-in-the-kitti-dataset. Thanks for letting us know if you try it out and run into any issue!

You are right, the classifier is provided with the random_forest_eigen_25trees.xml file. As for training a new random forest classifier, you would have to generate training data and use the OpenCV method CvRTrees::train which is described here. However, when experimenting with a different dataset, I would recommend first trying a simple k-NN retrieval which can potentially yield similar performances without the extra work of training a model. Please feel free to contact me directly if you have any question regarding your application-specific issues (see readme for contact info).

YAMMAY commented 7 years ago

Hi, I just run : roslaunch laser_mapper kitti_loop_closure.launch , based on https://github.com/ethz-asl/segmatch/wiki/Demonstrations#closing-loops-in-the-kitti-dataset .But can't see any cloud but path and segmentation at the rviz . screenshot from 2017-05-11 14 08 37

rdube commented 7 years ago

@YAMMAY are you using the .rviz file mentioned in the wiki demonstration page? You should subscribe to /segmatch/source_representation and /segmatch/target_representation