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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Is there something wrong with me? #9

Closed FitTiggo closed 5 years ago

FitTiggo commented 5 years ago

image I followed the steps you mentioned to run the data “fast1.bag" normally, and then conversion completed the point cloud used "lio_save_bag_to_pcd" with a record bag, The result is like the picture above. is there something wrong with me? @hyye

hyye commented 5 years ago

Hi @FitTiggo, I think this can be caused by using wrong topic names to build a pcd file.

Could you try with lio_save_bag_to_pcd --input_filename "[bag_name].bag" --output_filename "[pcd_name].pcd" --odom_name "/lio_map_builder/aft_mapped_to_init" --laser_name "/lio_map_builder/cloud_registered"?

BTW, it will be better to skip first several PointCloud2 messages, which might be unstable.

FitTiggo commented 5 years ago

Thank you for your reply so quickly. I ran the data again according to your instructions.The picture below shows the result of cutting off the ground and ceiling. This result is very good, but is it normal?I can see the obvious noise of the wall and the thickness of 20cm.

image

FitTiggo commented 5 years ago

This is the cropped point cloud @hyye project.zip

hyye commented 5 years ago

For fast bags, these were typical results under extreme conditions, since we aimed at evaluating the robustness under fast motion.

If better mapping results are needed, we recommend moderate motion. I tried the slow1 bag; the error of the plane is around 5-10 cm (not accurately measured), which is much smaller compared to the precision of the lidar (~2cm).

FitTiggo commented 5 years ago

Good work! Thanks for a lot.

zorosmith commented 5 years ago

Hello, I try to save the map using your command, but I meet the error as following, _F0907 21:27:52.891425 15780 save_bag_topcd.cc:162] no points saved Check failure stack trace:

I run the command in 2 ways, while running roslaunch lio test_indoor.launch, roslaunch lio map_4D_indoor.launch and rosbag play unorganized_02.bag.

  1. path::~/ros_ws/devel/lib/lio $ ./lio_save_bag_to_pcd --input_filename "/home/gordon/ros_ws/src/LeGO-LOAM/LeGO-LOAM/data/0802exp/unorganized_02.bag" --output_filename "111.pcd" --odom_name "/lio_map_builder/aft_mapped_to_init" --laser_name "/lio_map_builder/cloud_registered"

  2. rosrun lio lio_save_bag_to_pcd --input_filename "/home/gordon/ros_ws/src/LeGO-LOAM/LeGO-LOAM/data/0802exp/unorganized_02.bag" --output_filename "111.pcd" --odom_name "/lio_map_builder/aft_mapped_to_init" --laser_name "/lio_map_builder/cloud_registered"

Both commands report error. Could you give me some help? Thank you!

hyye commented 5 years ago

Hi @zorosmith, I think it might be related to the topic name of the point cloud. If there are no points accessed, this error will appear.

zorosmith commented 5 years ago

hello @hyye , finally I make sense how to use save bag_to_pcd.cc .

  1. run lio_mapping and rosbag play raw_data.bag.
  2. record "/lio_map_builder/cloud_registered" and "/lio_map_builder/aft_mapped_to_init" in a new bag, lio.bag .
  3. rosrun lio lio_save_bag_to_pcd --input_filename "lio.bag" --output_filename "./111.pcd" --odom_name "/lio_map_builder/aft_mapped_to_init" --laser_name "/lio_map_builder/cloud_registered"
HTLife commented 3 years ago

Easier way could be

roslaunch lio test_indoor.launch
roslaunch lio map_4D_indoor.launch
mkdir lio_pcd
cd lio_pcd
# you can start this line after the rosbag play to skip some frame which is not properly registered
rosrun pcl_ros pointcloud_to_pcd _binary:=true input:=/lio_map_builder/cloud_registered
rosbag play your_bag.bag

To combine the pcd files in lio_pcd folder

pcl_concatenate_points_pcd *.pcd

You can get the combined file called output.pcd

In this way, you don't need that bag to pcd node anymore.