Issue with No Corner about std

[chengwei0427]

Nice work! And a test video is here.
Thank you for your help.

[ChongjianYUAN]

Dear hku-mars team:

Thanks for your wonderfull work.

I'm trying to test STD on my own datasets with a velodyne16 lidar, and I meet a issue that I'm not achieving to resolve. This is what I do:

1. I run a laserodm like floam, and publish the odom pose per scan.
2. Subscribe the laser data and odom, sync the laser and odom and cache the lidar in global frame as a keyframe(5m for a dense temp cloud) like the example.
   Then generate STDescs with the function GenerateSTDescs, but I find that the stds size: 0.

The cache keyFrame

Thanks for your test. Can you email me a snippet of the data via [email protected]？It seems not normal that the corner points are not extracted from the point cloud.

[chengwei0427]

Hi，
An email 《Scans》 has been sent to your mail;

Looking forward to your reply.

[ChongjianYUAN]

Hi， An email 《Scans》 has been sent to your mail;

Looking forward to your reply.

I tried your dataset and the corner points extraction works fine in my test.


You can try this config for your dataset. Then you can get some loops.

[chengwei0427]

Hi，Dr.Yuan, Thanks for your reply. After an in-depth examination, I find the params load is abnormal.It's my problem, and it's normal now. Thanks again. yours, Chengwei Zhao 品一杯香茗、种一地阳光 ***@***.***  

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------------------ Original ------------------ From: "hku-mars/STD" ***@***.***>; Date: Mon, Mar 27, 2023 03:40 PM ***@***.***>; ***@***.******@***.***>; Subject: Re: [hku-mars/STD] Issue with No Corner (Issue #8) Hi， An email 《Scans》 has been sent to your mail; Looking forward to your reply. I tried your dataset and the corner points extraction works fine in my test. You can try this config for your dataset. Then you can get some loops. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***>