hku-mars / immesh Goto Github PK

感谢您开源如此精彩的工作！
我在阅读ImMesh源代码的时候看到了代码里面设置了一些log相关的txt文件输出，我想请问下如何使用这些txt文件来判断整个系统是正常运行的呢？

Is there any update to the code release ?? Looking forward to it.

Hello Ziv,

Nice work! I have a question about how to determine the normal of the mesh when generating a mesh based on an offline Point Cloud. Have you encountered this issue before?

As we know, when using an online Point Cloud, we can determine the direction of the 'positive' normal. However, for the case of offline PointCloud, how do we determine which side should be considered positive or negative?

Best

when would the code be released for ImMesh ?

I tried running ImMesh on data collected with MID360, but the mesh output is filled with faces which are bunch of spikes, it should be a smooth wall surface, is there a smoothening parameter?

Looking forward to...

Hello
Can I ask you the model of the camera you are using, in the paper?

@ziv-lin Thank you for your very impressive and open-source work! I noticed that the google drive link of rosbag in <5.1 Solid-state LiDAR> is not available. Could you update this documentation when you feel free? Thanks again!

I now have a DJI M300 drone, a Livox Aia, and an onboard computer, and want to build a drone platform like the one in Application-2. But I don't know how to fix them and fix the power supply.

And,it's really an excellent work！ I can't wait to read the code, haha.

Hi,

I am encountering an issue with the /ImMesh_mapping client node while trying to subscribe to the /livox/lidar topic. The error message I am receiving is as follows:

less

[ERROR] [1719823526.478984161]: Client [/ImMesh_mapping] wants topic /livox/lidar to have datatype/md5sum [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

It seems that the /livox/lidar topic is publishing messages of type sensor_msgs/PointCloud2, but the client node /ImMesh_mapping is expecting messages of type livox_ros_driver/CustomMsg.

To resolve this issue, I would like to know the best approach:

Should I modify the client node /ImMesh_mapping to subscribe to sensor_msgs/PointCloud2 instead of livox_ros_driver/CustomMsg?
If so, could you provide guidance or example code on how to make this modification?

Alternatively, if there is another recommended solution to address this datatype mismatch, please let me know.

Thank you for your assistance.

Best regards,

Hello, thanks for sharing your work. I can see you generate wireframe mesh. Are you also able to complete the wireframe mesh with surface ( I mean filling the holes in between the wireframes ??)

Thanks for sharing your work. Can I disable the opengl window display，because I usually run the code on server without screen and Rviz is enough for me

It is an excellent work. I have read your paper ImMesh_v1.pdf. I have a question. ImMesh has its own localization module for estimating the lidar's poses. It could get the camera's poses via the lidar's poses and the extrinsic parameters between the camera and the lidar. So, why do you use r3live++ for estimating the camera’s poses in application-2? Is it because the lidar and camera is not time synchronization or other reasons? Looking forward to your reply.

Please, can you make launch file for livox mid 360?

Best Regards,
Antun Jakopec

hku-mars/FAST_LIO#27

My error:
[ 23%] Built target ImMesh_generate_messages [ 26%] Building CXX object ImMesh/CMakeFiles/ImMesh_mapping.dir/src/voxel_mapping.cpp.o /home/ibox/inmesh_ws/src/ImMesh/src/voxel_mapping.cpp: In function ‘void BuildResidualListOMP(const std::unordered_map<VOXEL_LOC, OctoTree*>&, double, double, int, const std::vector<Point_with_var>&, std::vector<ptpl>&, std::vector<Eigen::Matrix<double, 3, 1> >&)’: <command-line>: error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive] /home/ibox/inmesh_ws/src/ImMesh/src/voxel_mapping.cpp:167:26: note: in expansion of macro ‘MP_PROC_NUM’ 167 | omp_set_num_threads( MP_PROC_NUM ); | ^~~~~~~~~~~ In file included from /usr/include/eigen3/Eigen/Core:266, from /usr/include/pcl-1.10/pcl/pcl_macros.h:75, from /usr/include/pcl-1.10/pcl/pcl_base.h:46, from /usr/include/pcl-1.10/pcl/filters/filter.h:42, from /usr/include/pcl-1.10/pcl/filters/voxel_grid.h:43, from /home/ibox/inmesh_ws/src/ImMesh/src/voxel_mapping.hpp:43, from /home/ibox/inmesh_ws/src/ImMesh/src/voxel_mapping.cpp:41: /usr/lib/gcc/x86_64-linux-gnu/9/include/omp.h:111:34: note: initializing argument 1 of ‘void omp_set_num_threads(int)’ 111 | extern void omp_set_num_threads (int) __GOMP_NOTHROW; | ^~~ make[2]: *** [ImMesh/CMakeFiles/ImMesh_mapping.dir/build.make:102: ImMesh/CMakeFiles/ImMesh_mapping.dir/src/voxel_mapping.cpp.o] Error 1

Although , the fix of PROC_NUM=2 in cmakelist.txt , didn't work for me

I use x86 4cores and have FastLIo and derivates already working in the same computer without issue.
thanks!

I'm no able to install Immesh in Jetson Orin , I solve some issues but at the end finish :

[ 50%] Building CXX object ImMesh/CMakeFiles/ImMesh_mapping.dir/src/IMU_Processing.cpp.o
In file included from /home/nrover/immesh_ws/src/ImMesh/src/ImMesh_node.cpp:74:
/home/nrover/immesh_ws/src/ImMesh/src/tools/tools_logger.hpp:1323:10: fatal error: cpuid.h: No such file or directory
 1323 | #include <cpuid.h>
      |          ^~~~~~~~~
compilation terminated.
In file included from /home/nrover/immesh_ws/src/ImMesh/./src/tools/openGL_libs/openGL_camera.hpp:49,
                 from /home/nrover/immesh_ws/src/ImMesh/src/meshing/mesh_rec_display.hpp:3,
                 from /home/nrover/immesh_ws/src/ImMesh/src/ImMesh_mesh_reconstruction.cpp:42:
/home/nrover/immesh_ws/src/ImMesh/./src/tools/tools_logger.hpp:1323:10: fatal error: cpuid.h: No such file or directory
 1323 | #include <cpuid.h>
      |          ^~~~~~~~~
compilation terminated.
make[2]: *** [ImMesh/CMakeFiles/ImMesh_mapping.dir/build.make:63: ImMesh/CMakeFiles/ImMesh_mapping.dir/src/ImMesh_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [ImMesh/CMakeFiles/ImMesh_mapping.dir/build.make:76: ImMesh/CMakeFiles/ImMesh_mapping.dir/src/ImMesh_mesh_reconstruction.cpp.o] Error 1
Scanning dependencies of target ImMesh_generate_messages
[ 50%] Built target ImMesh_generate_messages
make[1]: *** [CMakeFiles/Makefile2:2429: ImMesh/CMakeFiles/ImMesh_mapping.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed

I could install Fastlio and derivates without problem.
Thanks

In the vertex dilation algorithm, each vertex searches for other vertices within a radius of approximately one quarter of a voxel.
However, the three-dimensional reconstructed triangles are not connected. They overlap in visualization, but are not connected in topological structure.I dont see this part in the paper. How you guys deal with it?

The links provided for rosbags in the readme file are broken. Neither the Google Drive or OneDrive links work.

pointcloud saved in g_eigen_vec_vec seems useless and spend lots of memory. But when I stop put point inside, it fails in save to ply meshes. could you offer a help

@ziv-lin Can you please tell me which parameters that we should change in the Velodyne config to see mesh texture?
I tried enabling the img_enable parameter, but I don't see any texture ( tried on the same kitti bag file that you have shared across one drive)

Hi，@ziv-lin
Nice work! Any idea when the code will be released ? Thanks