hkust-aerial-robotics / fc-planner Goto Github PK

Could you provide a resource of the reconstruction algorithm you chose? Did you run it real-time on the drone or off-line after flight?
Thanks!

My compilation process went well, but when I ran redbird.launch I had following problem.

[ INFO] [1713882490.040349904]: [SSD] Initialized!
[ERROR] [1713882490.051120913]: Normal Estimation...
[ERROR] [1713882490.073935301]: Final downsample voxel size: 0.022000, Cloud size: 1702
[ INFO] [1713882490.074012178]: [SSD] normalize time = 23.128171 ms
[ INFO] [1713882490.105747681]: [SSD] calculate adj matrix time = 27.445752 ms.
[ INFO] [1713882490.232477864]: [SSD] drosa estimation time = 126.697679 ms.
[ INFO] [1713882490.244523691]: [SSD] dcrosa estimation time = 11.964825 ms.
[ INFO] [1713882490.245141611]: [SSD] line extraction time = 0.602194 ms.
[ INFO] [1713882490.245294499]: [SSD] recentering time = 0.140780 ms.
[ INFO] [1713882490.245313783]: [SSD] graph decomposition time = 0.009794 ms.
[ INFO] [1713882490.245334278]: [SSD] inner decomposition time = 0.010102 ms.
2_element_Merge_id:1
similarity:36.0729
[ WARN] [1713882490.245362855]: Without Merging Intermediate Branch...
branch_merge->segments: 23
branch_merge->pairs: 5
[ INFO] [1713882490.245381078]: [SSD] branch merge time = 0.036611 ms.
{11 12 13 14 15 }
{11 2 }
{2 3 4 5 6 7 8 9 10 17 18 19 20 21 22 23 }
{11 1 16 }
{11 0 }
[ INFO] [1713882490.245405462]: [SSD] restore scale time = 0.009717 ms.
[ INFO] [1713882490.280546280]: [SSD] distribute original cloud time = 35.126361 ms.
[ INFO] [1713882490.280921255]: [SSD] calculate inner dist time = 0.181904 ms.
[ INFO] [1713882490.280945014]: [SSD] store real graph time = 0.003847 ms.
[ INFO] [1713882490.280952613]: [SSD] SSD latency = 206.912763 ms. Normal estimation costs 23.157958 ms.
[ INFO] [1713882490.280961367]: [SSD] --- ---
================================================================================REQUIRED process [rosa_exec-2] has died!

My enviorment: ceres 2.2.0, eigen 3.3.9, pcl-1.14.0