search

jbehley / SuMa

Surfel-based Mapping for 3d Laser Range Data (SuMa)
MIT License
532 stars 166 forks source link

about the input to Suma #47

Open Hello-Water opened 1 month ago

Hello-Water commented 1 month ago

Hello, thanks for your code releasing! I have some questions about the input to Suma: 1) Does the visualizer default to using config/default.xml and how can i change config file to another one (for example vlp16.xml)? 2) If I just only feed Lidar data to Suma (there is no calib.txt and other files) , when I execute Save Poses, is the pose in output file poses.txt referenced to the first frame of the Lidar data?

jbehley commented 1 month ago

thanks for your interest in our work and the feedback.

  1. Yes, I should have added it to the Readme; you call ./visualizer [<path/to/config>] [<path/to/data>], where the path to data is a directory containing the .bin files. config and path to data are optional directories, eg. \visualizer ../config/vlp16.xml will run the visualization with the vlp16 values.
  2. Currently, the savePoses method doesn't consider the calibration (see [1], not sure when I did this...). So all poses are in the local reference frame of the first LiDAR.

It might be that stuff is quite fitted to KITTI (and their data format), but hopefully it will work our for you.

[1] https://github.com/jbehley/SuMa/blob/2d191f5a5c83e793ef2768611b2d5cad04943a9e/src/visualizer/VisualizerWindow.cpp#L840-L869

Hello-Water commented 1 month ago

Okay, I got it. Thank you very much for your prompt reply!

Hello-Water commented 1 month ago

@jbehley Hello, I have another question to ask for your advice: whether the ego-motion compensation in the bin format of the KITTI dataset is compensated to the end of the lidar frame time?

jbehley commented 1 month ago

Regarding what KITTI did for the motion compensation only the authors know. I guess they used the IMU estimates. But cannot tell for sure.