hku-mars/r2live

Velodyne Sesnor Input

zgxsin opened this issue · 3 comments

zgxsin commented

I have a dataset with velodyne point cloud, which is in the format of sensor_msgs/PointCloud2. There exists a velo16_handler:
https://github.com/hku-mars/r2live/blob/master/r2live/src/fast_lio/feature_extract.cpp#L115. So i changed the lidar_type from 1 to 2: https://github.com/hku-mars/r2live/blob/master/config/lio_config.yaml#L2. Afterwards, i launched the program and replayed my dataset.

I got the following issue:

Failed to find match for field 'normal_x'.
Failed to find match for field 'normal_y'.
Failed to find match for field 'normal_z'.
Failed to find match for field 'curvature'.
Failed to find match for field 'normal_x'.
Failed to find match for field 'normal_y'.
Failed to find match for field 'normal_z'.
Failed to find match for field 'curvature'.

Does that mean that i have to pre-compute the normal_x, normal_y, normal_z and curvature for the velodyne point cloud?
Is there any method in your code to do this?

stale commented

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

llxClover commented

I have a dataset with velodyne point cloud, which is in the format of sensor_msgs/PointCloud2. There exists a velo16_handler: https://github.com/hku-mars/r2live/blob/master/r2live/src/fast_lio/feature_extract.cpp#L115. So i changed the lidar_type from 1 to 2: https://github.com/hku-mars/r2live/blob/master/config/lio_config.yaml#L2. Afterwards, i launched the program and replayed my dataset.

I got the following issue:

Failed to find match for field 'normal_x'.
Failed to find match for field 'normal_y'.
Failed to find match for field 'normal_z'.
Failed to find match for field 'curvature'.
Failed to find match for field 'normal_x'.
Failed to find match for field 'normal_y'.
Failed to find match for field 'normal_z'.
Failed to find match for field 'curvature'.

Does that mean that i have to pre-compute the normal_x, normal_y, normal_z and curvature for the velodyne point cloud? Is there any method in your code to do this?

Have you resolved the question?

farhad-dalirani commented

It is my question too.