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robotics-upo / dll

DLL: Direct Lidar Localization
BSD 3-Clause "New" or "Revised" License
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Run other datasets #9

Closed MIke-1118 closed 2 years ago

MIke-1118 commented 2 years ago

hello！I saved a .ot file in dll/maps. And <arg name="map" default="myown.ot" /> But when I run the program , it shows "NULL otcomap". How come？Where else do I need to set the path?

fercabe commented 2 years ago

Hi Mike,

In the example launch files you can find two arguments:

The first one specifies the map name, the second the path. Just change "mbzirc.bt" for "myown.ot" and be sure that the map_path argument is properly set to right path.

If this does not work, just passme the .ot file and so I can check what is going on.

Fernando

MIke-1118 commented 2 years ago

I'm sorry it didn't work. How can i pass the .ot file to you ?

fercabe commented 2 years ago

Just upload the file somewhere and pass me the link through a comment.

Fernando

MIke-1118 commented 2 years ago

https://github.com/MIke-1118/kitti The .ot file is here and could you check it for me, please

fercabe commented 2 years ago

Hi,

I can see the problem. The point-cloud is so large that there is a memory allocation exception. The only way to solve this is by reducing the size or the resolution of the point-cloud.

But, even if octomap is able to load it, be aware that the Ditance Field grid will require muuuuch more memory. Your point cloud approximately covers a volume of 350x340x35 meters, at 0.1m resolution, you will need at least 30GB of free space in RAM..... only for the grid.

DLL works well no matter the maps, but you have to solve all the particularities related with your possible hardware limitations. You can divide the map in small pieces, loading the proper map when required and dealing with the handshaking between maps, but this will require for new software development.

Fernando

MIke-1118 commented 2 years ago

Thanks a lot，This is a real headache.