Comments (12)
Hi,
I'll get back to you on this I soon as I can (Hopefully by the end of the week) !
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Hi, I'll get back to you on this I soon as I can (Hopefully by the end of the week) !
Thank you sooooooooooooo much! This is really important to me!
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@samsdolphin Did you get the help about this?
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Hi, sorry it takes a little more time than expected.. Still on this
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@samsdolphin Did you get the help about this?
Hi @estevancandido, I managed to run it using the script below, but the results are worse than expected.
python3 run.py dataset=rosbag dataset.main_topic=velodyne_points dataset.file_path=/media/sam/T7/KITTI/06/06.bag slam/odometry=ct_icp slam/loop_closure=elevation_image slam/backend=graph_slam device=cuda:0 num_workers=8
So I write a scan-context-based loop closure ROS node and publish the point clouds and the corresponding poses generated from ct_icp in another node. If you wish, I could open-source it. You can tune the parameters by yourself. The odometry results are improved from the ct_icp (without loop closure) and are much better than those using the pyLiDAR-SLAM script above.
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Hi,@samsdolphin, it's wonderful that you have written scan-context-based loop closure code. I'm wondering if you could open-source it. I would be very grateful.
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Hi,@samsdolphin, it's wonderful that you have written scan-context-based loop closure code. I'm wondering if you could open-source it. I would be very grateful.
@Forrest-110, sure, give me some time, maybe this weekend.
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@samsdolphin Thank you so much!
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Hi @Forrest-110, I have created a repository called sc_ct_icp which functions as described above.
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Hi @Forrest-110, I have created a repository called sc_ct_icp which functions as described above.
Hi, @samsdolphin . Thanks a lot. Your work is EXCELLENT!
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@samsdolphin Did you get the help about this?
Hi @estevancandido, I managed to run it using the script below, but the results are worse than expected.
python3 run.py dataset=rosbag dataset.main_topic=velodyne_points dataset.file_path=/media/sam/T7/KITTI/06/06.bag slam/odometry=ct_icp slam/loop_closure=elevation_image slam/backend=graph_slam device=cuda:0 num_workers=8
So I write a scan-context-based loop closure ROS node and publish the point clouds and the corresponding poses generated from ct_icp in another node. If you wish, I could open-source it. You can tune the parameters by yourself. The odometry results are improved from the ct_icp (without loop closure) and are much better than those using the pyLiDAR-SLAM script above.
Hi, @samsdolphin . Sorry to bother you again.
I'm also attempting to reproduce the loop closure results using pyLidar-SLAM, but it seems that currently ct-icp python binding is broken. I tried the old-master version of CT-ICP, but when I run pyLIDAR-SLAM using "python run.py slam/odometry=ct-icp ...", it says "In slam, Could not find 'slam/odometry/ct-icp'". It seems that the config file of CT-ICP in pyLIDAR-SLAM is missing.
Do you have any ideas? Thanks again for your kindness!
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@samsdolphin Did you get the help about this?
Hi @estevancandido, I managed to run it using the script below, but the results are worse than expected.
python3 run.py dataset=rosbag dataset.main_topic=velodyne_points dataset.file_path=/media/sam/T7/KITTI/06/06.bag slam/odometry=ct_icp slam/loop_closure=elevation_image slam/backend=graph_slam device=cuda:0 num_workers=8
So I write a scan-context-based loop closure ROS node and publish the point clouds and the corresponding poses generated from ct_icp in another node. If you wish, I could open-source it. You can tune the parameters by yourself. The odometry results are improved from the ct_icp (without loop closure) and are much better than those using the pyLiDAR-SLAM script above.Hi, @samsdolphin . Sorry to bother you again.
I'm also attempting to reproduce the loop closure results using pyLidar-SLAM, but it seems that currently ct-icp python binding is broken. I tried the old-master version of CT-ICP, but when I run pyLIDAR-SLAM using "python run.py slam/odometry=ct-icp ...", it says "In slam, Could not find 'slam/odometry/ct-icp'". It seems that the config file of CT-ICP in pyLIDAR-SLAM is missing.
Do you have any ideas? Thanks again for your kindness!
Hi @Forrest-110, I am sorry, I don't have any spare time on this issue. I think as long as you can run the original ct_icp
code, you don't need to care too much about using pyLiDAR-SLAM
to perform the loop closure.
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Related Issues (20)
- Build with ROS option
- Mismatching data field in code and config files
- Issues during catkin_make (Step 3) HOT 2
- An error occurred while compiling: /usr/bin/ld HOT 2
- Build fails on debian HOT 1
- Fail to copy libglog during superbuild HOT 4
- Superbuild fail HOT 5
- ct_icp no timestamps HOT 3
- Running CT-ICP with other Datasets on ROS HOT 2
- Trajectory Location and Replicating Kitti Raw Results HOT 2
- How to obtain the relative timestamps? HOT 4
- build fails
- error with catkin_make HOT 1
- Error during superbuild installation HOT 2
- INTERFACE_LIBRARY targets may only have whitelisted properties. The property "IMPORTED_RELEASE_LOCATION" is not allowed HOT 2
- a theoretical math questions
- how to run the ct-icp when you collecting data
- confused about translation state update in CT_ICP_GN
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