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silencht / SG-SLAM

SG-SLAM: A Real-Time RGB-D Visual SLAM toward Dynamic Scenes with Semantic and Geometric Information
GNU General Public License v3.0
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为什么无法显示八叉树地图？ #17

Closed SZUshenyan closed 9 months ago

SZUshenyan commented 9 months ago

您好，我按照你的提示操作后，可以建立点云地图，也可以建立语义对象度量地图，但是就是建立不了八叉树地图，并且也没有任何报错，请问一下是什么问题？ Screenshot from 2023-12-04 20-25-27 Screenshot from 2023-12-04 20-31-19

silencht commented 9 months ago

请先参考一下其他issues中关于octomap使用的问题，或者提供更多终端输出信息？

SZUshenyan commented 9 months ago

我已经按照其他的issues也操作了，命令前，运行source devel/setup.bash将当前功能包目录添加到系统变量，但是还是解决不了。下面是我的终端输出信息 ![Uploading Screenshot from 2023-12-04 20-43-11.png…]()

SZUshenyan commented 9 months ago

sy@zx-System-Product-Name:~/SG-SLAM/src/octomap_server/launch$ roslaunch octomap.launch ... logging to /home/sy/.ros/log/36743d7e-927b-11ee-9554-581122c94a71/roslaunch-zx-System-Product-Name-23155.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://zx-System-Product-Name:45237/

SUMMARY

PARAMETERS

NODES / octomap_server (octomap_server/octomap_server_node)

ROS_MASTER_URI=http://localhost:11311

process[octomap_server-1]: started with pid [23198] [ WARN] [1701693748.694816161]: Nothing to publish, octree is empty

SZUshenyan commented 9 months ago

sy@zx-System-Product-Name:~$ rviz -d /home/sy/SG-SLAM/src/sg-slam/Examples/rvizconfig.rviz [ INFO] [1701693759.541288107]: rviz version 1.13.30 [ INFO] [1701693759.541316565]: compiled against Qt version 5.9.5 [ INFO] [1701693759.541325250]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1701693759.543163263]: Forcing OpenGl version 0. [ INFO] [1701693759.866414167]: Stereo is NOT SUPPORTED [ INFO] [1701693759.866446594]: OpenGL device: NVIDIA GeForce RTX 3090/PCIe/SSE2 [ INFO] [1701693759.866456079]: OpenGl version: 4.6 (GLSL 4.6).

SZUshenyan commented 9 months ago

sy@zx-System-Product-Name:~/SG-SLAM/src/sg-slam$ ./run_tum_walking_xyz.sh

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

is map construction consider dynamic: 1 is global pointcloud reconstruction: 0 is octomap semanticObject map construction: 1 camera_valid_depth_Min is 0.5 camera_valid_depth_Max is 5 Sor_Local_MeanK is 50 Sor_Local_StddevMulThresh is 3 Voxel_Local_LeafSize is 0.01 Sor_Global_MeanK is 50 Sor_Global_StddevMulThresh is 3 Voxel_Global_LeafSize is 0.01 Detector3D_Sor_MeanK is 50 Detector3D_Sor_StddevMulThresh is 1 Detector3D_Voxel_LeafSize is 0.01 Detect3D_EuclideanClusterTolerance is 0.02 Detect3D_EuclideanClusterMinSize is 1000 Detect3D_EuclideanClusterMaxSize is 30000 Detect3D_DetectSimilarCompareRatio is 0.1 global_pc_update_kf_threshold is 25 Start PointCloudMapping Viewer...

Camera Parameters:

ORB Extractor Parameters:

Depth Threshold (Close/Far Points): 2.98842

detection_confidence_threshold is 0.9

dynamic_detection_confidence_threshold is 0.01 Detector2D Thread start ...

Start processing sequence ... Images in the sequence: 827

New map created with 715 points Gtk-Message: 20:47:59.589: Failed to load module "canberra-gtk-module"

silencht commented 9 months ago

奇怪，我从输出信息中没有看出明显的错误。 使用rostopic list和echo等命令查看一下系统是否在正常输出octomap话题数据？

SZUshenyan commented 9 months ago

Screenshot from 2023-12-04 22-29-46

SZUshenyan commented 9 months ago

话题输出也是正常的，请问要怎么解决呀

SZUshenyan commented 9 months ago

显示八叉树地图是启动rviz，则选择左下角的add，选择by topic，选择occupied_cells_vis_array下的MarkerArray吧？

silencht commented 9 months ago

是的呀，rviz已经配置好了。 我的意思是rostopic echo 话题名称 （不是单纯的echo命令😆），看一下数据是否正常。 奇怪，一般来说点云可以显示的话，octomap应该也没问题了。

SZUshenyan commented 9 months ago

使用echo命令点云可以正常输出，但是八叉树没有输出

silencht commented 9 months ago

通过目前的信息我也无法判断哪里出现了问题，可以尝试一下在octomap相关的代码中打印一些变量的信息辅助判断。

SZUshenyan commented 9 months ago

您好，可以加一下联系方式吗？除此之外还想向您请教一下您的这篇文章在室外是否可行？

silencht commented 9 months ago

联系方式可在此页面寻找 https://silencht.github.io/about/

这篇文章在室外是否可行？

这取决于深度相机（输入设备）的特性