Error running alexa_reco.launch

[zhangjd1029]

Hello, thank you for always maintaining the OpenRealm framework. I managed to run gnss, noreco and reco in RVIZ, and here are the results I saw in the paper that running reco should be a 2.5D elevation map, but in the results I ran, it is not stereoscopic, so I would like to ask you if these are the correct results?If the result is correct, then where does it manifest its three-dimensionality? Looking forward to your reply! Thank you very much!

[laxnpander]

@zhangjd1029 Looks okay, publishing a 3d mesh is disabled currently because it was bugging too much. You will find 2.5D information (e.g. geotiff) in the realm_ros/output folder. You can also enable PLY export at the end by setting this flag to 1: https://github.com/laxnpander/OpenREALM_ROS1_Bridge/blob/65a86d465b5ba0b5256f5c8f1bb8090ec3a027f8/realm_ros/profiles/alexa_reco/mosaicing/stage_settings.yaml#L37

[zhangjd1029]

Thank you very much for your response! I didn't find geotiff in the output folder, should it be in the output/timestamp/mosaicing folder? I set the parameter to 1, when running the launch file, I added the pointcloud2 plugin, but I can't see the point cloud, is this way to view the point cloud correct? If not, how can I check it? When I run GNSS and Noreco, there will be a mosaicing folder in the output folder, but when I run Reco, there will be no such folder, is this normal? There are a lot of questions, please give them in your spare time. Thanks again for your reply!

[laxnpander]

@zhangjd1029 Ah Sorry, it’s a bug. You can specify the output directory for every node individually, but you don’t have to. For the alexa_reco it seems like I pushed a custom change. Look at the launch file and comment this line or put a directory of your choice:

https://github.com/laxnpander/OpenREALM_ROS1_Bridge/blob/65a86d465b5ba0b5256f5c8f1bb8090ec3a027f8/realm_ros/launch/alexa_reco.launch#L71

[zhangjd1029]

Thank you very much for your answer! I managed to find the mosaicing folder. I assume the point cloud files are in the mosaicing/elevation/ply folders? However, after I run it for many times, files are generated in color_map and gtiff folder, while nothing is found in ply folder. May I ask if I did not set anything correctly? Or is the point cloud file not here? Thank you again and look forward to your reply.

[laxnpander]

@zhangjd1029 Jeah, should be. Does it close without an error? Hard to diagnose from a distance without any error message or indication of what's going wrong. Setting the flag should be enough. But I know it's also one of the lesser used features.

[laxnpander]

Reopen if questions persist.