robustfieldautonomylab / lego-loam Goto Github PK

Dear Author:
Very nice work!
1. I am wonder how you evaluate lego-loam on kitti dataset. I used the tool(https://pypi.org/project/kitti2bag/1.5/) to convert the raw data into rosbag. when I run the rosbag, there are msgs lost. Is this caused by hardware resources limitations? I saw your paper has evaluate the algorithm on tx2, have you encounter such problems?
2. The demo video is very interesting. How do you dynamically display trajectories to Google Maps in real time? Have you used any video production software ?
Thanks very much!

I made belo w commands
cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1
In separate terminal i played below
rosbag play *.bag --clock --topic /velodyne_points /imu/data

But after exceuting
roslaunch lego_loam run.launch under "catkin_ws" directory, i got error below. Kindly help

[run.launch] is neither a launch file in package [lego_loam] nor is [lego_loam] a launch file name The traceback for the exception was written to the log file

Any docs or tips about the transformAssociateToMap algorithm?
I am going to transform the keyframe pos to UTM coordinate maybe.

Hi, all,

I am trying to get my Velodyne VLP-16 node(topic: velodyne_points) to work with LeGO-LOAM. I can compile the package and play sample bag files. I also have installed velodyne vlp16 and the lidar seems working properly. However, when I roslaunch velodyne node and LeGO-LOAM, I just can't get it right. My command lines are as follows:

$roscore
$roslaunch velodyne_pointcloud VLP16_points.launch
$roslaunch lego_loam run.launch

How to set up tf for LeGO-LOAM using VLP-16?THANKS A LOT.

Hi! Would you have a moment to take a look at the dataset provided here?
https://ferhr-my.sharepoint.com/:f:/g/personal/jorsulic_fer_hr/EvwbIJ1tVipLqAJi1ECinDcBLLwKVF0Vki1m4zQ6ye0Jwg?e=TqqWCu

To run Lego-LOAM with the dataset:

rosrun imu_filter_madgwick imu_filter_node /imu/data_raw:=imu _publish_tf:=false _use_mag:=false _gain:=0.005
roslaunch lego_loam run.launch
rosbag play processed_type1_traderjoes.bag  points2_1_VLP16:=/velodyne_points --clock

The trajectory sometimes looks okay piecewise, but often has jerky moments. Also, in the second part of processed_type1_traderjoes.bag, the trajectory goes crazy, up in the air, with an arbitrary pitch and roll - it looks like the gravity measured by the IMU is ignored. As far as I can tell, the IMU is well aligned to the lidar (~< 0.5 degrees). Do you maybe know what could be the cause?

(You may have to install the Madgwick filter with sudo apt install ros-melodic-imu-filter-madgwick.)

Also: the frequency is 20 Hz, which means the angular resolution is 0.4 degrees. However, If I tried adjusting for this (the angular resolution), I would get a crash.

Hi! I noticed that I can only view a partial map through rviz while running LeGO-LOAM. Is there any way to view the real-time global map in rviz?
By the way, I also noticed that the pointclouds sent by topic "/laser_cloud_surround" also only show part of the map. Is there a way to adjust the scale of it so that I can view the global map through that topic?
Thanks a lot!

c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-5/README.Bugs for instructions.
examples/CMakeFiles/Pose2SLAMExample_graph.dir/build.make:62: recipe for target 'examples/CMakeFiles/Pose2SLAMExample_graph.dir/Pose2SLAMExample_graph.cpp.o' failed
make[2]: *** [examples/CMakeFiles/Pose2SLAMExample_graph.dir/Pose2SLAMExample_graph.cpp.o] Error 4
CMakeFiles/Makefile2:14021: recipe for target 'examples/CMakeFiles/Pose2SLAMExample_graph.dir/all' failed
make[1]: *** [examples/CMakeFiles/Pose2SLAMExample_graph.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 64%] Linking CXX executable Pose2SLAMwSPCG
[ 64%] Built target Pose2SLAMwSPCG
[ 64%] Linking CXX executable Pose2SLAMExample_lago
[ 64%] Built target Pose2SLAMExample_lago
[ 64%] Linking CXX executable SFMExample_bal_COLAMD_METIS
[ 64%] Built target SFMExample_bal_COLAMD_METIS
[ 66%] Linking CXX executable ImuFactorsExample
[ 66%] Built target ImuFactorsExample
[ 66%] Linking CXX executable SFMExampleExpressions
[ 66%] Built target SFMExampleExpressions
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'gtsam':
Command '['/home/firefly/golo_ws/devel_isolated/golo_tools/env.sh', 'make', '-j6', '-l6']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/firefly/golo_ws/build_isolated/gtsam && /home/firefly/golo_ws/devel_isolated/golo_tools/env.sh make -j6 -l6

Hi,
I was compiling LeGO-LOAM and the following error show up:

 *** No rule to make target '/usr/local/lib/libpcl_common.so', needed by '/home/bruno/catkin_ws/devel/lib/lego_loam/featureAssociation'. Stop.
CMakeFiles/Makefile2:5390: recipe for target 'LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/all' failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CM

My pcl version is 1.7. Is that an issue?
Regards,
Bruno

I did some modifications to fit the KITTI data. #12 (comment) and used LeGo-LOAM on KITTI sequence 00.
when the car goes at crossroads, lego-loam returns wrong transformation as the image shows .

I changed the iteration times from 25 to 50, but this doesn't work. I am confused about this.

Hello, I'm using kitti dataset to test your code, I have modified the params as follw:
extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1800; //1028~4500
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 28.0/float(N_SCAN-1);
extern const float ang_bottom = 25.0;
extern const int groundScanInd = 60;

are they right? can you provide some advice?

My imu device is xsens mti-10 driver and driver http://wiki.ros.org/xsens_driver,

I opened run.launch first and then open velodyne VLP16, it showed pointcloud on rviz.
But, when i use imu it will be stoped and show MSG to TF : Quaternion Not Properly Normalized.

thx for help!

Hi!
I would like to know if I can produce more dense final cloud.
Thank you.

Hi Tixiao

Thanks for sharing this work,
I have a question regarding the odometry. Which topic should I subscribe to, in order to get the correct odometry? the topic /aft_mapped_to_init seems correct but the problem is I cannot filter this message as the time stamp is not synced to /scan topic which I obtain using pointcloud_to_laserscan package. The other odometry messages (/laser_odom_to_init and /integrated_to_init) are well aligned with this.
Seems like the publishing rate of topic /aft_mapped_to_init is slower (1.449Hz) as compared to /laser_odom_to_init (2.9Hz)
Any suggestion?

scan_sub = message_filters.Subscriber("/scan", LaserScan) odom_sub = message_filters.Subscriber("/aft_mapped_to_init", Odometry) ts = message_filters.TimeSynchronizer([scan_sub,odom_sub],10) ts.registerCallback(callback_rx_data)

Best Regards
Myron

Dear Tixiao Shan,

Thank you for making this good work open source.

Did you evaluate LeGO-LOAM on KITTI Odometry datasets ? I was not able to see it on odometry algorithms ranking page http://www.cvlibs.net/datasets/kitti/eval_odometry.php

Good day,
Sai

I got the roll,pitch and yawl of our robot .But the roll and pitch are around 0~180 degree.I think that my robot 's roll and pitch are around +/- 5 degree. Which reason lead to this problem? Could you tell me the reason?

                                Thanks.          

I will be grateful if you can help me figure out the set of parameters defined here:

for Velodyne HDL-64E used in KITTI Raw Datasets. I know that N_SCAN = 64 but I don't know how to set the other parameters.

Great job! Tixiao, any bag to test your loop closure function?

Thanks,

Deliang

I changed the utility.h to:
extern const int N_SCAN = 40;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 7.0;
extern const int groundScanInd = 7;

I am unable to drive LeGo-loam using pandar40

pandar-40:
lower vertical bound (degress) :-16
upper vertical bound (degress) : 7
the number of scan rings 40

Hi @TixiaoShan,
Thanks for sharing this package.
I have a question about the function projectPointcloud. In this line, you hardcoded two numbers for identifying the column index of a point:

if (horizonAngle <= -90)
        columnIdn = -int(horizonAngle / ang_res_x) - 450;
      else if (horizonAngle >= 0)
        columnIdn = -int(horizonAngle / ang_res_x) + 1350;
      else
        columnIdn = 1350 - int(horizonAngle / ang_res_x);

If I understand correct, those numbers 450,1350 are somewhat related to the Velodyne VLP-16. They will probably not fit for other LIDAR, whose horizontal resolution is not 0.2 as the VLP-16. For example, the OS1-16 from Ouster has a horizontal resolution at 0.18, which creates a slightly bigger range image 16x2000.
I wonder if you could help me understand the logic behind this these number so that I can adapt them to different LIDAR sensor?
I appreciate your help!

I've test my rosbag but z drift still exists, so after one loop, baselink might drift far enough that ICP can't handle it.

Is this possible due to the tilt between Velodyne and baselink?

Hello,

Would LeGO-LOAM be suitable to use for aerial vehicle localization/pose estimation in indoor, gps-denied settings (say, using a VLP16)? I noticed from the readme that the requirement is that the ground plane always needs to be in view. Can this requirement be relaxed in any way?

Edit: Found the note about applying LeGO-LOAM to UAVs in the conclusion of your paper - any tips on how I could go about modifying the source to accomplish this?

Thanks!

Hi,
I am using ROS Kinect and Ubuntu 16.04. I compile this package using catkin_make and I am obtaining the following error:

/LeGO-LOAM/LeGO-LOAM/include/utility.h:11:35: fatal error: cloud_msgs/cloud_info.h: No such file or directory
compilation terminated.

Anybody with the same issue?

hi, I am really sorry to bother you. However, i happen to a weird problem. When I try to roslaunch the run.launch(your provided ) and the bag (your provided), the rviz will crash. The error messages are listed as following: I am using ubuntu 16.04 with ros kinect version

rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:405: virtual void Ogre::Node::setPosition(const Ogre::Vector3&): Assertion !pos.isNaN() && "Invalid vector supplied as parameter"' failed.
[rviz-2] process has died [pid 26222, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/machozhao/zhao_ws/src/LeGO-LOAM/LeGO-LOAM/launch/test.rviz __name:=rviz __log:=/home/machozhao/.ros/log/f88fc50a-a5bd-11e8-9edc-70f11c0dd839/rviz-2.log].
log file: /home/machozhao/.ros/log/f88fc50a-a5bd-11e8-9edc-70f11c0dd839/rviz-2*.log

rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion (min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed. [rviz-2] process has died [pid 25433, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/machozhao/zhao_ws/src/LeGO-LOAM/LeGO-LOAM/launch/test2.rviz __name:=rviz __log:=/home/machozhao/.ros/log/8be59486-a5bb-11e8-9edc-70f11c0dd839/rviz-2.log]. log file: /home/machozhao/.ros/log/8be59486-a5bb-11e8-9edc-70f11c0dd839/rviz-2*.log

I guess the test.rviz may have some problems, so I use my configured rviz file. Unfortunately, the rviz also crashes. The most weird thing is that there will be fine if i run other ros packages with rviz file. Can you give me some suggestions?

related problems:ros-visualization/rviz#808
useful information:https://forums.ogre3d.org/viewtopic.php?t=70549

Hi,
If I want to extend this system to have the ability to relocalise the robot in the previously built map, where should I start? I would be most grateful if anyone might be able to give me some advice. THX!!

Hi Shan,

I have tested your algorithm with my own datasets (VLP-16, no imu data), in dataset1, map is perfect with little drift (pic1, pic2). But in dataset2, it occurs a sudden rotation in the built map(pic3, pic4).
My lidar is mounted on the surface of handcart (1m height) which moves smoothly.
Do you have any idea about this ? Or do you have any suggestions about which parameters should be adjusted accordingly ?

Yours,
Claude

imuShiftFromStartXCur, imuShiftFromStartYCur, imuShiftFromStartZCur always set to 0, since the function ShiftToStartIMU is not called. right?

Hi! I'm really impressed by the speed and effect brought by LeGO-LOAM after playing my own rosbag.
Therefore, I really want to have some further understanding about how leGO-LOAM works. But I was unable to find the paper "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain" online.
So could you please upload the paper or provide some information about where I can find it?
Thanks a lot and have a nice day!

Hello, If I want to test in kitti odometry dataset, Can all the functions about IMU be removed?

Hi,I want to use the IMU data in kitti raw datasets to test lego ,just remap '/imu/data' to '/kitti/oxts/imu'
but it goes wrong when turn rotation on z axis. For example：

And When not use IMU data，it will be ok:

The kitti raw datasets coordinate transform between velodyne and imu like this:

And in your datasets 2017-06-08-15-49-45_0.bag , the tf is like this:

Can help me what's wrong?

By the way, is there any doc about featureAssociate.cpp's detail. Thanks

Hi,

Could you please provide the utility parameters to run LeGO-LOAM on KITTI dataset ?

When you implement new sensor, make sure that the ground_cloud has enough points for matching.

extern const int N_SCAN = 16;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0;
extern const int groundScanInd = 7;

1. What should the new parameters be ?

Here is a bag file that I am attaching.

https://transfer.pcloud.com/download.html?code=5Z61Ss7ZPV6UN87wU4kZAH3bZiIe8l4Y3IBJMUAHk9TSTmyAyT4Ek

2. Could you tell me what other changes you made such as the topic name needs to be changed and so on.

3. Any new static transform publishers need to be added ?

Thank you very much!

Hi Shan,

Thanks for your great job! However, I got some results which are not as good as yours in paper. Currently, I'm using VLP-16+imu to build the map in our campus, lidar is mounted at around 1.2m hight with imu attached to its top. In some situations LeGO-LOAM suffers significant drift in z direction (ex. ~7 meters after traveling around 400m), which didn't happen in x and y direction(x forward, y left, z up).

I have tried to change threshold in if (abs(angle - sensorMountAngle) <= 10) to 1,5,15,20 but got no good result.

I have also tried to change the map optimization update frequency in utility.h extern const double mappingProcessInterval = 0.1, but no luck.

Do you have any idea about this ? Could you take a look at my bag file ?

Looking forward to your reply.

Claude

bird view

z drift

path

bag link
https://drive.google.com/file/d/1LFKV-jA1yjSHvUUCYCarzFO2UQdPD_0_/view?usp=sharing

Shouldn't odometryNoise relate to odometry estimation result ( or Hessian matrix) ?

What would need to be changed to have it work on a 32 layer puck? const int N_SCAN = 32, i assume in utility.h, but what else? currently it's not working at all

when the vehicle is stationary，the position is not stable。the error is about 0.4m .As time goes by, the error is getting bigger. The biggest position error is 1m.

Hi, @TixiaoShan How to judge if a loop closure is found by your method?

i use my rosbag with vlp-16.but there are some problem about /laser_cloud_surround . The previous points disappeared . what should i do to avoid this？

Hello,

Maybe the most known LOAM implementation on Github is laboshinl's version, but when testing it with the KITTI Dataset, it doesn't reproduce the original results. I was working with the original code uploaded by J. Zhang http://docs.ros.org/indigo/api/loam_velodyne/html/files.html using the raw KITTI Dataset and; even though I get results near the original one, there are some sequences where the original LOAM diverges.

I tried LeGO-LOAM with the sequence 00 of the KITTI Dataset and it returns good results (better than original LOAM's code). I don't know if this occurs because of your algorithm or if the version of LOAM you based your code is the one that can reproduce the original LOAM results.

Since your work is based on LOAM, before starting to implement your code, did you get to reproduce original LOAM results with the KITTI Dataset?.

Thanks for your answer.

Hi author, Thanks for your work!

1. I am wonder how the coordinate transformation in point cloud distortion correction process. Did it firstly convert current point into the IMU coordinate(or world frame?), then integrate the measurements. Third calculated the relative pose and velocity (in world frame) between the current point and the first point . At last transform the relative measurements in Lidar coordinate, linear interpret and register every point in corresponding line? I don't know if I got the right order.
   2. I think before fusion these two kind of messages, it should firstly calibrate the sensor suite in temporal and spatial. I havn't seen any code to do this work both in LOAM and your project. Can you tell me what the influence of parameter of Rc and Pc (transformation between lidar and imu), or what should i be attention when use my own suite.
   Thank you very much!

Hello, I use the RoboSense lidar and when I run it the program is broken and finally, I find that the point cloud contains nan point, I think it should add a removeNaNFromPointCloud when point cloud comes in.

I'm using a different 16 lines lidar, and I've set N_SCAN,ang_res_x y, but it doesn't work.

What does Horizon_SCAN mean? frequency * 360? Your paper shows Velodyne is 10Hz，360°

And What does groundScanInd mean?

I set it to 16, and doesn't work.

Thanks for your work and help!

Hi ,
I tried to use LeGO-LOAM with my rosbag with Velodyne-16 data, but I cant visualize it on rviz neither the topics are being published.
Any clue about this?
Thanks,
Bruno

Hi author, Thanks for your work!

When I read your code, I find there is so much code about transformation,such as in function "calculateTransformationSurf" and "calculateTransformationCorner", most of them are about imu, I didn't find the theory in your paper. Could you provide the related theory about this part?

Thank you very much!

I try to make this package and get the following error:

[ 66%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o
In file included from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:36:0:
/usr/local/include/gtsam/geometry/Rot3.h: In static member function ‘static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)’:
/usr/local/include/gtsam/geometry/Rot3.h:197:51: error: no matching function for call to ‘gtsam::Rot3::rodriguez(Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >&)’
{ return rodriguez((Vector(3) << wx, wy, wz));}
^
/usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&, double)
static Rot3 rodriguez(const Vector& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Point3&, double)
static Rot3 rodriguez(const Point3& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Unit3&, double)
static Rot3 rodriguez(const Unit3& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:187:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&)
static Rot3 rodriguez(const Vector& v);
^
/usr/local/include/gtsam/geometry/Rot3.h:187:17: note: no known conversion for argument 1 from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘const Vector& {aka const Eigen::Matrix<double, -1, 1>&}’
/usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)
static Rot3 rodriguez(double wx, double wy, double wz)
^
/usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate expects 3 arguments, 1 provided
In file included from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:37:0:
/usr/local/include/gtsam/geometry/Pose3.h: In static member function ‘static gtsam::Matrix gtsam::Pose3::wedge(double, double, double, double, double, double)’:
/usr/local/include/gtsam/geometry/Pose3.h:226:28: error: could not convert ‘(&(&(&(&(&(&(&(&(&(&(&(&(&(& Eigen::DenseBase::operator<<(const Scalar&) with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseBase::Scalar = double.Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wz)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wy))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vx))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wz))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wx)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vy))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wy)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wx))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vz))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0)’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, -1> >’ to ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’
0., 0., 0., 0.);
^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24:0,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:40:
/usr/local/include/gtsam/geometry/Point2.h: In static member function ‘static gtsam::Vector gtsam::Point2::Logmap(const gtsam::Point2&)’:
/usr/local/include/gtsam/geometry/Point2.h:175:86: error: could not convert ‘Eigen::DenseBase::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseBase::Scalar = double]((& dp)->gtsam::Point2::x()).Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, 1> >((& dp)->gtsam::Point2::y())’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}’
static inline Vector Logmap(const Point2& dp) { return (Vector(2) << dp.x(), dp.y()); }
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h: In instantiation of ‘class gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:118:62: required from here
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:62:59: error: no type named ‘Index’ in ‘struct Eigen::internal::traits<gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix >’
typedef typename Eigen::internal::traits::Index Index;
^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::operator()(gtsam::DenseIndex, gtsam::DenseIndex)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:119:43: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&)’
return Block(*this, i_block, j_block);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 3 provided
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h: In instantiation of ‘class gtsam::SymmetricBlockMatrixBlockExpr’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:124:73: required from here
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:62:59: error: no type named ‘Index’ in ‘struct Eigen::internal::traits<gtsam::SymmetricBlockMatrixBlockExpr >’
typedef typename Eigen::internal::traits::Index Index;
^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::operator()(gtsam::DenseIndex, gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:125:48: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&)’
return constBlock(*this, i_block, j_block);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 3 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::range(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:134:107: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&, gtsam::DenseIndex, gtsam::DenseIndex)’
return Block(*this, i_startBlock, j_startBlock, i_endBlock - i_startBlock, j_endBlock - j_startBlock);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 5 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::range(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:143:112: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&, gtsam::DenseIndex, gtsam::DenseIndex)’
return constBlock(*this, i_startBlock, j_startBlock, i_endBlock - i_startBlock, j_endBlock - j_startBlock);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 5 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::full()’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:149:42: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, int, gtsam::DenseIndex, int)’
return Block(this, 0, nBlocks(), 0);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 4 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::full() const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:155:47: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, int, gtsam::DenseIndex, int)’
return constBlock(this, 0, nBlocks(), 0);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 4 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘Eigen::SelfAdjointView<const Eigen::Matrix<double, -1, -1>, 2u> gtsam::SymmetricBlockMatrix::matrix() const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:161:14: error: could not convert ‘((const gtsam::SymmetricBlockMatrix)this)->gtsam::SymmetricBlockMatrix::matrix_’ from ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’ to ‘Eigen::SelfAdjointView<const Eigen::Matrix<double, -1, -1>, 2u>’
return matrix_;
^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘Eigen::SelfAdjointView<Eigen::Matrix<double, -1, -1>, 2u> gtsam::SymmetricBlockMatrix::matrix()’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:167:14: error: could not convert ‘((gtsam::SymmetricBlockMatrix)this)->gtsam::SymmetricBlockMatrix::matrix_’ from ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’ to ‘Eigen::SelfAdjointView<Eigen::Matrix<double, -1, -1>, 2u>’
return matrix_;
^
In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘double gtsam::HessianFactor::constantTerm() const’:
/usr/local/include/gtsam/linear/HessianFactor.h:287:79: error: no match for call to ‘(gtsam::SymmetricBlockMatrix::constBlock {aka gtsam::SymmetricBlockMatrixBlockExpr}) (int, int)’
double constantTerm() const { return info_(this->size(), this->size())(0,0); }
^
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘double& gtsam::HessianFactor::constantTerm()’:
/usr/local/include/gtsam/linear/HessianFactor.h:292:74: error: no match for call to ‘(gtsam::SymmetricBlockMatrix::Block {aka gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix}) (int, int)’
double& constantTerm() { return info_(this->size(), this->size())(0,0); }
^
LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/build.make:62: recipe for target 'LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o' failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o] Error 1
CMakeFiles/Makefile2:3321: recipe for target 'LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all' failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

what's the problem and how to do?Thx

Hi! congratulations for your great work.

I was curious about the performance of the algorithm in Kitti. Apart from the speed over the Jetson, do you know how the performance would be affected if we use the full HDL64 pointcloud?

I would love to do some more experiments over this dataset with the full pointcloud (as if real-time would not be a requirement). Maybe you could comment the parameters configuration that you use on the Kitti benchmark, and even share the results you obtained with your downsampled pointclouds?

Thank you very much in advance.

Best

Hi. Thanks for your package.
I use the lego_loam with rslidar_points and changed the parameters in include file and the function in projectPointClolud, and there are some problems. First, the problem is the odometry always drift while our robot is static. Second, the problem is the odometry is not the same plane. Can you expain why these problems happen? And can you give me some advices how to resolve these problems?
Thank you very much!

segInfo.segmentedCloudColInd is an unsigned int32. In featureAssociation.cpp, difference of these unsigneds is computed. std::abs(unsigned) does not compile on Ubuntu 18.04 due to ambigous overload resolution.

Hi，author! Thanks for your work.
I recently encountered some problems when reading your papers and code. In "Odometry" section, you added the "Label Matching" process, but I did not find this part in the code, I hope you can give me some advice. I think that since it is necessary to reduce the number of feature points and improve the accuracy of the system, this part is indispensable.