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wh200720041 / floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
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FLOAM tracking lost after first ~20 seconds #5

Closed MrMixit closed 4 years ago

MrMixit commented 4 years ago

Hi!

Just installed floam after trying out LOAM and went to try it out with the rosbag examples. After around 20 seconds, I get the error message: 

not enough points in map to associate, map error

I tried changing the source code to skip the if condition that prompted this error message when false, and then got this error, which could explain why tracking was lost: 

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

I also tried installing different versions of PCL (1.8.0, 1.9.1, 1.11.0) to see if this could be the issue, but it did not change the error.

Do you know what could be causing this? I'll attach some screenshots too of the results when running, both with and without mapping. Let me know if I can send any other information that could be of help. floam floam_mapping

wh200720041 commented 4 years ago

Hi @MrMixit Thanks for posting question here.

The if condition is used to prevents the case when feature points are too little, when there are not enough feature points, odometer can fail and cause error localization.

Unfortunately, just now I tested this sequence on my computer several times, but I could not get your result. Screenshot 2020-07-16 09:12:31

The error message means that the feature points are not enough, mainly caused by the sensor fault. e.g., points are missing in one of the scan. Did you use the rosbag I provided in the project description? If you use your own rosbag, I doubt that some data is missing when you convert kitti data into rosbag. And I think it does not matter for any versions of PCL.

So if the problem still happens, maybe you can share your rosbag here.

Thank you very much! Han

MrMixit commented 4 years ago

Hi again and thank you for the response!

Yes, I have tried it with both of your rosbags provided in the description and the same thing happens after a while. I tried installing FLOAM on another Ubuntu computer with the libpcl installed since before through apt-get instead of having built it from source. It worked like a charm! Not sure if this was the difference that made it work or if I have something else installed on my computer that is causing the bug, but I will let you know what it was if I manage to solve it.

wh200720041 commented 4 years ago

Hi @MrMixit

Thanks for reply. I didn't expect the error comes from pcl version but according to your test, it seems that's the reason. I will note down it.

And you are welcomed to leave anything you find about this pcl issue.

Thanks Han