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hku-mars / D-Map

D-Map provides an efficient occupancy mapping approach for high-resolution LiDAR sensors.
GNU General Public License v2.0
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Real experiment assistant tool and octomap. #2

Closed FPSychotic closed 11 months ago

FPSychotic commented 1 year ago

Hi, I cannot find how to start the mapping assist tool from the real life experiment, I can get the octomaps in red, but they don't dissapear and the axes guide doesn't appear, maybe that part wasn't released? I'm using a livox-360 in this case, but also I can test with Avia, but I don't think will make any difference. I don't know the horizontal resolution of mid-360 to be honest, could find beam deviation and angular precision, but no angular resolution in any case. please find my config file, my fast-lio world frame appears as camera init, so I used it instead of world, with world would not appear the red octomaps in rviz.

`FOV_shape: 0            # 0: normal FoV Shape (e.g., spinning lidars), 1: Corn Shape (Non-repetitive Scan)
FOV_theta_range: [-7,52]         # Unit: deg
FOV_phi_range: [-180,180]           # Unit: deg
FOV_depth: 40.0        # Unit: meter
sensor_res_hor:  [0.1]     # Unit: deg
sensor_res_vert: [0.2]    # Unit: deg
environment: [-25.0,-15.0,0.0,17.0,25.0,8.0]    # Unit: meter

point_frame: "body"       #
lidar_topic: "/cloud_registered_body"#
odom_topic: "/Odometry"#
odom_topic_type: "odometry"#
fixed_frame: "camera_init"#`

Thanks by share this application for others learning,

Ecstasy-EC commented 11 months ago

Sorry, but the code for interactive guidance is currently not included as part of the open-sourced framework. As the frontier and corresponding visualization could be easily obtained from occupancy information in D-Map, you might develop one by yourself.

FPSychotic commented 11 months ago

Thanks by the reply and share. Best of lucks in your projects

On Sat, 30 Sept 2023, 10:56 Yixi Cai, @.***> wrote:

Sorry, but the code for interactive guidance is currently not included as part of the open-sourced framework. As the frontier and corresponding visualization could be easily obtained from occupancy information in D-Map, you might develop one by yourself.

— Reply to this email directly, view it on GitHub https://github.com/hku-mars/D-Map/issues/2#issuecomment-1741729332, or unsubscribe https://github.com/notifications/unsubscribe-auth/AITQOVH6AFX2S5UY5OZP7P3X47UEDANCNFSM6AAAAAA4YO6CII . You are receiving this because you authored the thread.Message ID: @.***>