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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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Can anyone provide the target map of sequence 18 in .pcd format? #77

Open ZulunZhu opened 6 years ago

ZulunZhu commented 6 years ago

For the dilemma of RAM, I can‘t get the global map of sequence 18. But I really need it to compare with my own work and cite segmatch in my paper, which is not found in the wiki link. If anyone is helpful, please send the document to zulun.zhu@gmail.com. Thanks for any help!

ZulunZhu commented 6 years ago

@rdube could you provide the target map of sequence 18 for me please? I found that you provided the map of 27. I really need it to compare with my own work...Thanks!

rdube commented 6 years ago

@ZulunZhu I do not have this map and unfortunately at the very moment I do not have time to generate it. You could try using the tool laser_to_octomap written by @lorenwel : https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/laser_to_octomap.cpp

You can find the octomap_manager package in our volumetric_mapping repository: https://github.com/ethz-asl/volumetric_mapping

This would basically query the segmatch node for the underlying laser_track and reproject the measurment in an octomap. In the following line you would need to change segmapper for laser_mapper: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/laser_to_octomap.cpp#L55 this change is required as this tool is synced with our latest segmatch version.

Then the following script should give you the octomap: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/octomap_to_point_cloud.cpp

I hope this helps!

rdube commented 6 years ago

@ZulunZhu did that work?

@danieldugas that could also be helpful in case you want to create a point cloud when using laser_slam. We should consider moving this information to the wiki.

sherrygp commented 5 years ago

@ZulunZhu I do not have this map and unfortunately at the very moment I do not have time to generate it. You could try using the tool laser_to_octomap written by @lorenwel : https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/laser_to_octomap.cpp

You can find the octomap_manager package in our volumetric_mapping repository: https://github.com/ethz-asl/volumetric_mapping

This would basically query the segmatch node for the underlying laser_track and reproject the measurment in an octomap. In the following line you would need to change segmapper for laser_mapper: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/laser_to_octomap.cpp#L55 this change is required as this tool is synced with our latest segmatch version.

Then the following script should give you the octomap: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/octomap_to_point_cloud.cpp

I hope this helps!

@rdube This would basically query the segmatch node for the underlying laser_track and reproject the measurment in an octomap. In the following line you would need to change segmapper for laser_mapper: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam_tools/src/laser_to_octomap.cpp#L55 this change is required as this tool is synced with our latest segmatch version. hello, I'm not quite sure what this means.

sherrygp commented 5 years ago

@rdube could you provide the target map of sequence 18 for me please? I found that you provided the map of 27. I really need it to compare with my own work...Thanks!

@ZulunZhu Did you successfully generate the target map of sequence 18 in. PCD format? If you succeed, can you tell me the steps of generation?