debug semantic for kitti

QingzhiWang · Apr 9, 2022 · b44ae23 · b44ae23
1 parent 5e6c64d
commit b44ae23
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Showing 6 changed files with 1,418 additions and 59 deletions.
diff --git a/config/params.yaml b/config/params.yaml
@@ -16,7 +16,7 @@ lis_slam:
   RESULT_PATH: "/home/wqz/AWorkSpace/TestData/trajectory/lis/09_pred.txt"
 
   useImu: false       # If using IMU data, set to "true" 
-  useGPSVel : true
+  useGPSVel : false
 
   loopClosureEnableFlag: true
   UsingISCFlag : false
@@ -27,16 +27,15 @@ lis_slam:
   UsingSSCFlag : false
   UsingFEPSCFlag : true
 
-
 
   useOdometryPitchPrediction: true              # 在结构性较强时可使用前端里程计pitch预测值
 
   # Topics   velodyne_points  points_raw
-  # pointCloudTopic: "points_raw"                 # Point cloud data
-  # imuTopic: "imu_raw"                       # IMU data imu_correct imu_raw
-  # odomTopic: "odometry"                         # IMU pre-preintegration odometry, same frequency as IMU
-  # gpsTopic: "/odometry/navsat"                  # GPS odometry topic from navsat, see module_navsat.launch file
-  # gpsVelTopic : "/kitti/oxts/gps/vel"
+  pointCloudTopic: "points_raw"                 # Point cloud data
+  imuTopic: "imu_raw"                       # IMU data imu_correct imu_raw
+  odomTopic: "odometry"                         # IMU pre-preintegration odometry, same frequency as IMU
+  gpsTopic: "/odometry/navsat"                  # GPS odometry topic from navsat, see module_navsat.launch file
+  gpsVelTopic : "/kitti/oxts/gps/vel"
   lidarIntensity: "intensity"
 
   # Topics kitti(RAW)
@@ -54,10 +53,10 @@ lis_slam:
   # gpsTopic: "odometry/gpsz"  
 
   # Topics  HCLT/KITTI(odometry)
-  pointCloudTopic: "/velodyne_points"         # Point cloud data
-  imuTopic: "/imu/data"                       # IMU data
-  odomTopic: "odometry"                       # IMU pre-preintegration odometry, same frequency as IMU
-  gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file
+  # pointCloudTopic: "/velodyne_points"         # Point cloud data
+  # imuTopic: "/imu/data"                       # IMU data
+  # odomTopic: "odometry"                       # IMU pre-preintegration odometry, same frequency as IMU
+  # gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file
 
 
   # Frames

diff --git a/launch/include/config/rviz.rviz b/launch/include/config/rviz.rviz
@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /links1
         - /Point Cloud1
-        - /Semantic Cloud1/semantic_cloud_rgb1
+        - /Semantic Cloud1
         - /Odometry1
         - /Odometry1/keyframe_imu1/Shape1
         - /Odometry1/lidar1/Shape1
@@ -16,9 +16,8 @@ Panels:
         - /Mapping1/Map (global)1
         - /Mapping1/Map (global)1/Autocompute Value Bounds1
         - /EPSC1
-        - /Test1
       Splitter Ratio: 0.616847813129425
-    Tree Height: 647
+    Tree Height: 939
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Views
@@ -320,15 +319,15 @@ Visualization Manager:
           Position Transformer: XYZ
           Queue Size: 10
           Selectable: true
-          Size (Pixels): 2.5
+          Size (Pixels): 2
           Size (m): 0.09000000357627869
           Style: Points
           Topic: /lis_slam/semantic_fusion/semantic_cloud
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-      Enabled: false
+      Enabled: true
       Name: Semantic Cloud
     - Class: rviz/Group
       Displays:
@@ -875,14 +874,14 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
-        - Alpha: 0.07000000029802322
+        - Alpha: 0.05000000074505806
           Autocompute Intensity Bounds: false
           Autocompute Value Bounds:
             Max Value: 20.689233779907227
             Min Value: -4.753530502319336
             Value: true
           Axis: Z
-          Channel Name: intensity
+          Channel Name: label
           Class: rviz/PointCloud2
           Color: 255; 255; 255
           Color Transformer: Intensity
@@ -898,8 +897,8 @@ Visualization Manager:
           Queue Size: 10
           Selectable: true
           Size (Pixels): 1
-          Size (m): 0.17000000178813934
-          Style: Boxes
+          Size (m): 0.25
+          Style: Flat Squares
           Topic: /lis_slam/mapping/map_global
           Unreliable: false
           Use Fixed Frame: true
@@ -948,7 +947,7 @@ Visualization Manager:
           Unreliable: false
           Value: true
         - Class: rviz/Image
-          Enabled: true
+          Enabled: false
           Image Topic: /global_descriptor_sepsc
           Max Value: 1
           Median window: 5
@@ -958,7 +957,7 @@ Visualization Manager:
           Queue Size: 2
           Transport Hint: raw
           Unreliable: false
-          Value: true
+          Value: false
         - Class: rviz/Image
           Enabled: true
           Image Topic: /global_descriptor_epsc
@@ -972,7 +971,7 @@ Visualization Manager:
           Unreliable: false
           Value: true
         - Class: rviz/Image
-          Enabled: true
+          Enabled: false
           Image Topic: /global_descriptor_isc
           Max Value: 1
           Median window: 5
@@ -982,9 +981,9 @@ Visualization Manager:
           Queue Size: 2
           Transport Hint: raw
           Unreliable: false
-          Value: true
+          Value: false
         - Class: rviz/Image
-          Enabled: true
+          Enabled: false
           Image Topic: /global_descriptor_sc
           Max Value: 1
           Median window: 5
@@ -994,7 +993,7 @@ Visualization Manager:
           Queue Size: 2
           Transport Hint: raw
           Unreliable: false
-          Value: true
+          Value: false
         - Class: rviz/Image
           Enabled: false
           Image Topic: /global_descriptor_ssc
@@ -1316,26 +1315,21 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
-      Distance: 265.2543029785156
+      Angle: 0.0899999588727951
+      Class: rviz/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Focal Point:
-        X: -26.206809997558594
-        Y: 1.7809123992919922
-        Z: -104.031982421875
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5047963857650757
+      Scale: 5.768243312835693
       Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 4.530277252197266
+      Value: TopDownOrtho (rviz)
+      X: -9.179588317871094
+      Y: 12.51412582397461
     Saved: ~
 Window Geometry:
   Displays:
@@ -1355,7 +1349,7 @@ Window Geometry:
     collapsed: false
   Image_SSC:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Tool Properties: