ruanjy / slamesh Goto Github PK

Nice work!Thank you for your sharing！
To further evaluate the work, could you please tell me how to save the point cloud and mesh results?

Hi, based on your SLAMesh, I am fusing image in the system.
Though mesh_tools is a great package, I wonder how to realize Mesh Texture, like https://github.com/naturerobots/mesh_tools#mesh-textures.

I see the defined msgs but there is no detailed examples to guide me to achieve the fusion.

It would be great if you can provide any kind of help.

Looking forward to your response. Thanks.

这个怎么解决呢

Great work and beautiful code! Wishing you a good day for every day!

Hello, when I ran the launch file in the provided data file, I found that I could not find the liblvr2rply.so file. I have installed lvr2 according to the operation, and there is no liblvr2rply.so file in the lib file generated by compilation.Could you tell me how to solve it？

I use ceres2.2.0 and I met this problem.

/home/zoratt/slamesh_ws/src/SLAMesh/src/map.cpp:968:72: error: invalid new-expression of abstract class type ‘PoseSE3Parameterization’
968 | problem.AddParameterBlock(parameters,7,new PoseSE3Parameterization());
| ^
In file included from /home/zoratt/slamesh_ws/src/SLAMesh/src/cell.h:53,
from /home/zoratt/slamesh_ws/src/SLAMesh/src/map.h:4,
from /home/zoratt/slamesh_ws/src/SLAMesh/src/map.cpp:1:
/home/zoratt/slamesh_ws/src/SLAMesh/src/factor/lidarFactor.hpp:159:7: note: because the following virtual functions are pure within ‘PoseSE3Parameterization’:

I searched online and they tell me the newest ceres has change the LocalParameterization to something else.Please note that.

缺少ros-melodic-mesh-msgs

Hi, thanks for your great work.

I am reading your code, and I am confused with the following function.

In updateVertices() function, it seems that the number of the updated points is num_test, but the total points is num_test_square.

It seems that all the points should be updated. So I wonder why you use num_test instead of num_test_square in this function.

Looking forward to your response.

Hi! Thank you for such an awesome work.

I saw that you have some parameters grt_available and GroundTruthCallback, but didn't see any interface or any mentions in the README for feeding ground truth poses to SLAMesh to test only the meshing part. I'm wondering if I have to feed gt poses through rosbag play, or load it like how you load lidar points for KITTI.

Any help is much appreciated. Thanks!

/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:108:22: error: ‘std::enable_if_t’ has not been declared
std::enable_if_t<std::is_same<U, V>::value, int> = 0>
^~~~~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:108:33: error: expected ‘>’ before ‘<’ token
std::enable_if_t<std::is_same<U, V>::value, int> = 0>
^
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:115:22: error: ‘std::enable_if_t’ has not been declared
std::enable_if_t<!std::is_same<U, V>::value, int> = 0>
^~~~~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:115:33: error: expected ‘>’ before ‘<’ token
std::enable_if_t<!std::is_same<U, V>::value, int> = 0>
^
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:116:32: error: ‘template<class ... T> template template<class V, > boost::shared_array lvr2::VariantChannel::DataPtrVisitor::operator()(const lvr2::Channel&) const’ cannot be overloaded
boost::shared_array operator()(const Channel& channel) const
^~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:109:32: error: with ‘template<class ... T> template template<class V, > boost::shared_array lvr2::VariantChannel::DataPtrVisitor::operator()(const lvr2::Channel&) const’
boost::shared_array operator()(const Channel& channel) const
^~~~~~~~
In file included from /opt/ros/melodic/include/lvr2/types/VariantChannelMap.hpp:38:0,
from /opt/ros/melodic/include/lvr2/types/MultiChannelMap.hpp:33,
from /opt/ros/melodic/include/lvr2/types/BaseBuffer.hpp:35,
from /opt/ros/melodic/include/lvr2/io/PointBuffer.hpp:32,
from /home/robot/mesh_ws/src/mesh_tools/mesh_msgs_conversions/include/mesh_msgs_conversions/conversions.h:39,
from /home/robot/mesh_ws/src/SLAMesh/src/cell.h:48,
from /home/robot/mesh_ws/src/SLAMesh/src/cell.cpp:1:
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:108:22: error: ‘std::enable_if_t’ has not been declared
std::enable_if_t<std::is_same<U, V>::value, int> = 0>
^~~~~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:108:33: error: expected ‘>’ before ‘<’ token
std::enable_if_t<std::is_same<U, V>::value, int> = 0>
^
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:115:22: error: ‘std::enable_if_t’ has not been declared
std::enable_if_t<!std::is_same<U, V>::value, int> = 0>
^~~~~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:115:33: error: expected ‘>’ before ‘<’ token
std::enable_if_t<!std::is_same<U, V>::value, int> = 0>
^
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:116:32: error: ‘template<class ... T> template template<class V, > boost::shared_array lvr2::VariantChannel::DataPtrVisitor::operator()(const lvr2::Channel&) const’ cannot be overloaded
boost::shared_array operator()(const Channel& channel) const
^~~~~~~~
/opt/ros/melodic/include/lvr2/types/VariantChannel.hpp:109:32: error: with ‘template<class ... T> template template<class V, > boost::shared_array lvr2::VariantChannel::DataPtrVisitor::operator()(const lvr2::Channel&) const’
boost::shared_array operator()(const Channel& channel) const
^~~~~~~~
In file included from /opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.hpp:157:0,
from /opt/ros/melodic/include/lvr2/geometry/BaseMesh.tcc:38,
from /opt/ros/melodic/include/lvr2/geometry/BaseMesh.hpp:707,
from /opt/ros/melodic/include/lvr2/algorithm/ColorAlgorithms.hpp:47,
from /opt/ros/melodic/include/lvr2/texture/Material.hpp:32,
from /opt/ros/melodic/include/lvr2/io/MeshBuffer.hpp:31,
from /home/robot/mesh_ws/src/mesh_tools/mesh_msgs_conversions/include/mesh_msgs_conversions/conversions.h:40,
from /home/robot/mesh_ws/src/SLAMesh/src/cell.h:48,
from /home/robot/mesh_ws/src/SLAMesh/src/slamesher_node.h:6,
from /home/robot/mesh_ws/src/SLAMesh/src/slamesher_node.cpp:69:
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc: In function ‘void lvr2::walkContour(const lvr2::BaseMesh&, lvr2::EdgeHandle, VisitorF)’:
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc:47:43: error: use of ‘auto’ in lambda parameter declaration only available with -std=c++14 or -std=gnu++14
walkContour(mesh, startH, visitor, [](auto unused)
^~~~
In file included from /opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.hpp:157:0,
from /opt/ros/melodic/include/lvr2/geometry/BaseMesh.tcc:38,
from /opt/ros/melodic/include/lvr2/geometry/BaseMesh.hpp:707,
from /opt/ros/melodic/include/lvr2/algorithm/ColorAlgorithms.hpp:47,
from /opt/ros/melodic/include/lvr2/texture/Material.hpp:32,
from /opt/ros/melodic/include/lvr2/io/MeshBuffer.hpp:31,
from /home/robot/mesh_ws/src/mesh_tools/mesh_msgs_conversions/include/mesh_msgs_conversions/conversions.h:40,
from /home/robot/mesh_ws/src/SLAMesh/src/cell.h:48,
from /home/robot/mesh_ws/src/SLAMesh/src/slamesher_node.h:6,
from /home/robot/mesh_ws/src/SLAMesh/src/slamesher_node.cpp:69:
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc: In function ‘void lvr2::calcContourEdges(const lvr2::BaseMesh&, lvr2::EdgeHandle, std::vectorlvr2::EdgeHandle&, PredF)’:
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc:183:35: error: use of ‘auto’ in lambda parameter declaration only available with -std=c++14 or -std=gnu++14
walkContour(mesh, startH, [&](auto vertexH, auto edgeH)
^~~~
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc:183:49: error: use of ‘auto’ in lambda parameter declaration only available with -std=c++14 or -std=gnu++14
walkContour(mesh, startH, [&](auto vertexH, auto edgeH)
^~~~
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc: In lambda function:
/opt/ros/melodic/include/lvr2/algorithm/ContourAlgorithms.tcc:185:35: error: no matching function for call to ‘std::vectorlvr2::EdgeHandle::push_back(int&)’
contourOut.push_back(edgeH);
已根据步骤安装了lvr2，可仍然会报lvr2相关的错误，请问这是为什么？我应该如何修复调整？

HI, thank you for your great job. I met some problem when I launch the slamesh_online.launch. It looks like some .so file is missed. But I installed lvr2 successfully. Could you give some advice.

你好，很抱歉打扰了，我在编译的时候遇到了一些问题。
cd slamesh_ws/src
git clone https://github.com/RuanJY/SLAMesh.git
cd ..
catkin_make
source ~/slamesh_ws/src/devel/setup.bash
在这一步骤时，出现错误：

如果您有什么解决方法，可以请教一下嘛？

Hello Ruan, I have to say it's a nice work with beautiful codes.

I've successfully compiled and run the code using the provided launch file. However, as the times goes, when the program deals with the LiDAR data indexed in 979, error always happened.

The message in system log shows that segfault at 8 ... error 4 in slamesh. Do you have any clue why this error happened?

Thanks.

Is this any limits of lidar types? I can't run it with my horizon bags.

Hi , first thank you by add this nice feature, but sadly is not working in my case.

EDIT: I changed badly the paths in the launch file, not sure how it works to change the paths or if it is even possible, putting again the default lines worked.

Hi， @RuanJY
Thanks for your nice work!
I'm curious is there an advanced version that fusion with imu?
There is no distortion correction in the code, and distortion can greatly affect accuracy, right?

我用docker和vnc成功用我自己的数据集看到mesh效果,但是没看到怎么保存mesh数据,保存的mesh数据可以用cloudcompare打开吗