gxytcrc / semantic-histogram-based-global-localization Goto Github PK

I follow the instruction and run the code without crash. But I could not find out whether there is a function in the code to visualize the graph. So any hint to reproduce the results of the semantic nodes and the edges?

How to Utilize the SYNTHIA Dataset for Testing. For instance, what are the camera parameters (fx, fy, cx, cy), and what are the label_gray[] values.
camera[0] = 512; //fx camera[1] = 512; //fy camera[2] = 512; //cx camera[3] = 288;//cy

` //generate the correspondent rgb value of all labels in the segmentation image
Mat Label = (cv::Mat_(11, 3)<< 175, 6, 140,
65, 54, 217,
156, 198, 23,
184, 145, 182,
211, 80, 208,
232, 250, 80,
234, 20, 250,
99, 242, 104,
142, 1, 246,
81, 13, 36,
112, 105, 191);

//Obtain the label number
vector<uchar> label_gray(11);
label_gray[0] = 72; label_gray[1] = 76; label_gray[2] = 165; label_gray[3] = 161; label_gray[4] = 134;
label_gray[5] = 225; label_gray[6] = 110; label_gray[7] = 184; label_gray[8] = 71; label_gray[9] = 36;
label_gray[10] = 117;`

hello,
Thanks for your great work. i have build it successfully, and downloaded the Airsim_dataset. but i can't launch it. please explain the process to launch .

When you build it, should not follow README, but bellow:

git clone https://github.com/gxytcrc/Semantic-Graph-based--global-Localization.git
cd semantic-histogram-based-global-localization
mkdir build
cd build
cmake ..
make -j8 #do not catkin_make

By the way, the version of PCL should be lower than 1.10. Otherwise, make will error!!!

作者您好！请问论文中Fig. 7(b)是如何得到的呢？十分感谢！

Hello Guo,
I am reading your paper published in the RAL, and I really admire your work!
However, I found a small error about it which I had already emailed you about last week but still didn't get your reply. Could you please check your school email box and give me a reply?
It's better if you can confirm whether I am right or I may miss something, this is important to me since I will have a presentation next week.
Thanks a lot in advance and looking forward to your reply!
My email address is ([email protected]).

Best regards,
hank zhang

Hi Guo
I read your paper and your code, very admire it, and it inspired me a lot!
I'm trying to recurrent the result on KITTI by your code. However, I find the result has something error, I'm using Mseg and BTS for segmentation and depth according to your paper.

Could you please tell me the setting or what should I change on the code to make it work on KITTI dataset?

Best,
Molin

~/semantic-histogram-based-global-localization-main/build$ catkin_make

Base path: /home/sharine/semantic-histogram-based-global-localization-main/build
The specified source space "/home/sharine/semantic-histogram-based-global-localization-main/build/src" does not exist

$ cd semantic-histogram-based-global-localization-main
$ mkdir build
$ cd build
$ cmake ..
$ make

~/semantic-histogram-based-global-localization-main/src/pointCloudMapping.cpp:24:63: error: expected primary-expression before ‘>’ token
GlobalCloud = pcl::make_shared<pcl::PointCloud>();

~/semantic-histogram-based-global-localization-main/src/pointCloudMapping.cpp:24:66: error: expected primary-expression before ‘)’ token
GlobalCloud = pcl::make_shared<pcl::PointCloud>();