Comments (18)
Hello, thanks for the interest in our project.
I just made a draft of the dataloader, but there is still some details to fix. Could you please give it a try and provide some feedback to see if it's working?
How to try it?
git clone https://github.com/PRBonn/kiss-icp.git
cd kiss-icp
git checkout nacho/add_tum_dataloader
After that, you can ran pip install --verbose .
to install this branch
How to run?
kiss_icp_pipeline --dataloader tum $DATASETS/tum/rgbd_dataset_freiburg1_xyz --visualize --max_range 4.0
Expected output
The evaluation is still wrong but we are working on finishing the draft of the dataloader.
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hello Ignazio, many thanks for your prompt answer.
and thanks for making all this opensource. great work :-)
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feedback about installation on Windows laptop:
the command
pip install --verbose .
fails with the following error
ERROR: Failed building wheel for kiss-icp
Failed to build kiss-icp
ERROR: Could not build wheels for kiss-icp, which is required to install pyproject.toml-based projects
the command
pip install -e ".[all]"
completes successfully
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I tried to run the command given above and it raises and error
ModuleNotFoundError: No module named 'kiss_icp.pybind'
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That means that you couldn't build the project, can you paste the entire log? Additionally you can also patch the pyproject.toml
since there is a bug in setuptools introduced some hours ago
commit 4e9cab597d22542b0a877ecebde0a234be50443b
Author: Ignacio Vizzo <[email protected]>
Date: Mon Jan 16 16:36:25 2023 +0100
Fix editable mode installation
diff --git a/pyproject.toml b/pyproject.toml
index da3a4bb..cda1725 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,7 +3,7 @@ requires = [
"cmake",
"ninja",
"scikit-build",
- "setuptools",
+ "setuptools<66.0.0", # https://github.com/pypa/setuptools/issues/3772
]
build-backend = "setuptools.build_meta"
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I tried to patch the pyproject.toml file and I get the same error. (trying now to build on Ubuntu 18.04)
Here is the full log from Windows.
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Then try with pip install -U cmake ninja
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I tried installing ninja but I get errors on both Windows and Ubuntu (see attached files)
Windows_setup_log.txt
Ubuntu1804_setup_log.txt
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pip version? Are you using conda or any other animal alike? The problem is that the build system is not finding ninja on the path.
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yes using similar animal, miniconda
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Ah ok, then I can't help with that, since I'm allergic to those animals :P they never really worked for me :D.
kiss-icp does not have many dependencies, so there is actually no big gain on isolating the whole thing ;)
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I'll do a few more attempts within the conda env.
- I think I managed to install correctly ninja (https://anaconda.org/conda-forge/ninja)
- the build error is different now, maybe you see something?
Ubuntu1804_setup_log.txt
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I see the same error:
'/tmp/pip-build-env-d5sl4e3f/overlay/bin/ninja' '--version'
failed with:
No such file or directory
Now you know why I don't like conda :p. Too complicated to manage just some python dependcies 😇
Have you tried outside conda?
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issue fixed!
g++-9 is needed, nothing to do with anaconda. you may want to include this in the readme.
what I did is
- install g++-9
- update symbolic link g++ -> g++-9 executable
and the build was successful
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Great! It's actually already on the Readme. But I don't want to enforce any particular version, since it depends on your OS
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I am trying to process the TUM dataset in a simple loop but the final map does not match the one showed above.
Below is pseudo code & the KISS configuration. Anything wrong in the way I am using the library?
versor_map = ... # this is HW x 3 matrix containing the 3d unit norm vector corresponding to each pixel
for filename in depth_file_list:
logging.info(f'Processing data file ({filename})')
# extract timestamp from filename
timestamp, _ = os.path.splitext(os.path.basename(filename))
timestamp = float(timestamp)
# load depth map
depth_map = cv2.imread(filename, cv2.IMREAD_ANYDEPTH)
# convert to 3D data
depth_map = depth_map.flatten() * 1e-2 # convert to [cm]
flags = depth_map > 0 # exclude invalid depth (depth == 0)
pts_3d = versor_map[flags, :] * np.tile(depth_map[flags, np.newaxis], reps=(1, 3))
# run SLAM
odometry.register_frame(frame=pts_3d, timestamps=timestamp)
KISS-ICP Configuration:
{
'adaptive_threshold':
{
'fixed_threshold': 0.3,
'initial_threshold': 1.0,
'min_motion_th': 0.01
},
'data':
{
'correct_scan': True,
'lidar_frequency': 10.0,
'max_range': 100.0,
'min_range': 0.0,
'preprocess': True
},
'mapping':
{
'max_points_per_voxel': 20,
'voxel_size': 1.0
},
'out_dir': 'results'
}
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@lsorgi All the development for the TUM dataset is happening at #45 . I suggest you stay tunned for when we merge this into the main branch so you can give it a try
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@lsorgi we just merged #45 please let us know if everything is working on your side!
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Related Issues (20)
- save pose.txt from kiss_icp output in kitti dataset. HOT 2
- Map becomes invisible in global view HOT 1
- Parameter tuning in the config file HOT 2
- Missing file "setup.py" when calling $make editable HOT 2
- [Newer College Dataset] Expected dataset layout
- How to evaluate modified code? HOT 2
- Modularize Preprocessing Pipeline
- Autocompute ICP covariance HOT 2
- using kiss-icp yields only tranformations existing out of 0's and 1's HOT 7
- Issue when building file missing or has a wrong name HOT 1
- Deskew model HOT 5
- An error occurred while compiling version 0.4 with colcon HOT 4
- Question: Has anyone tried KISS-ICP on ARM architecture? HOT 3
- Help, where can I find documentation on how to use kiss-icp from a script, not from the command line? HOT 1
- VoxelHashMap ereasing of the voxels
- Best way to use Kiss-ICP with multi lidar HOT 2
- Cannot recreate the KITTI results HOT 3
- Deskew in Config is erased by not passing --deskew in kiss_icp_pipeline HOT 8
- Kiss-icp timestamp management with rosbags HOT 2
- Make C++ library installable HOT 1
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