saeedghsh / map-alignment-2d Goto Github PK

Hello!

This is some pretty amazing work, I'm hoping to use it as a basis for some robotics research I'm doing myself. I am however, having some issues getting the demo to run take a look at my error trace below. I followed your instructions as per the repo and installed your other repo, arrangement. Looks like there is an skimage warning and then an actual error to do with networkx, any ideas?

/home/jake/.local/lib/python2.7/site-packages/skimage/transform/radon_transform.py:58: UserWarning: The default of circle in skimage.transform.radon will change to True in version 0.15.
warn('The default of circle in skimage.transform.radon '
Traceback (most recent call last):
File "demo.py", line 139, in
src_results['arrangement'], src_arr_t = mapali._construct_arrangement(src_results, arr_config)
File "/home/jake/Desktop/Map-Alignment-2D/map_alignment/map_alignment.py", line 413, in _construct_arrangement
arrange = arr.Arrangement(data['traits'], config)
File "/home/jake/.local/lib/python2.7/site-packages/arrangement/arrangement.py", line 697, in init
self._decompose()
File "/home/jake/.local/lib/python2.7/site-packages/arrangement/arrangement.py", line 1033, in _decompose
faces = self._decompose_graph(sg)
File "/home/jake/.local/lib/python2.7/site-packages/arrangement/arrangement.py", line 1646, in _decompose_graph
face_tmp = [ allHalfEdgeIdx[openListIdx] ]
File "/home/jake/.local/lib/python2.7/site-packages/networkx/classes/reportviews.py", line 1106, in getitem
u, v, k = e
TypeError: 'int' object is not iterable

I am trying this example:
$ python demo.py --img_src 'map_sample/map_src.png' --img_dst 'map_sample/map_dst.png' -multiprocessing -visualize
with my own slam map generated from cartographer (source) and an autocad drawing exported as png (destination). However, the alignment is not working correctly. Is there a specific way I should save my autocad file or my slam map?