gisbi-kim / pyicp-slam Goto Github PK

python3 main_icp_slam.py
Segmentation fault (core dumped)

Hi!
This project is really cool. I have some questions about how to using this project and need your help.
Does this project support to output a global map like Le-GO LOAM? I need the final point cloud for some other research.

Hi,
I have a similar problem as this issue,
File "/home/win/.vscode/extensions/ms-python.python-2022.18.2/pythonFiles/lib/python/debugpy/_vendored/pydevd/_pydevd_bundle/pydevd_runpy.py", line 124, in _run_code
exec(code, run_globals)
File "/home/win/work/PyICP-SLAM/main_icp_slam.py", line 53, in
PGM.addPriorFactor()
File "/home/win/work/PyICP-SLAM/utils/PoseGraphManager.py", line 32, in addPriorFactor
self.graph_initials.add(minisam.key('x', self.curr_node_idx), minisam.SE3(self.curr_se3))
AttributeError: module 'minisam' has no attribute 'SE3'.

how can I solve this?

Hi,

Thank you for this project, it has been very useful.

I was wondering if there is any heuristic for choosing the covariance values that you have used here, and to what extent they affect the optimization.

self.prior_cov = minisam.DiagonalLoss.Sigmas(np.array([1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4])) 
self.const_cov = np.array([0.5, 0.5, 0.5, 0.1, 0.1, 0.1])
self.odom_cov = minisam.DiagonalLoss.Sigmas(self.const_cov)
self.loop_cov = minisam.DiagonalLoss.Sigmas(self.const_cov)

Any insight on this would be helpful.

I am using PyICP github repo. I built the Sophus from this commit (commit a0fe89a323e20c42d3cecb590937eb7a06b8343a) Reference.
I am using Ubuntu 22 and used virtual environment (venv with python version 3.7.14) to build the PyICP repo, minisam and Sophus repo.

Finally when I run the command python3 main_icp_slam.py it runs in this error.

I am not sure is it caused by Sophus, Eigen, Venv or minisam.

Let me know if anymore information is needed.

Thanks, for any and all the help.

Hi @kissb2 I have run PyICP-SLAM but after installing minisam, I ran into a problem that is:
AttributeError: module 'minisam' has no attribute 'DiagonalLoss
I have built successfully like the guidance in the minisam repo. Could you help me, please ?

First of all, thank you very much for your excellent work. When I use the code to run the kitti dataset, there will be multiple .csv files in the result folder after running a sequence every time. Why is this? In other words, I want to compare the saved pose with groundtruth, but the multiple files generated make me a little confused.
Thanks again!

Hi, im working on a project having registration with only depth images.

Im now trying to understand and modifying to do a job, and I got a simple question on your code in line 64, UtilsMisc.py.

Why did you put 0.1 instead of 1 in the optimized_pos_ith 4x4 matrix. I know there's no difference in the result, but I just wanna know the reason, if there a benefit from it or not.