Data generation issue

Open illuminate97 opened this issue 9 months ago • 0 comments

Hi there,

I’m currently integrating IPlanner into my master’s project, and first—thank you for making such an outstanding library available! Unfortunately, i am facing a problem regarding the data collection, which i could not resolve by myself yet.

Problem: My PointCloud reconstructs perfectly with the collected depth images and IMU data, but when I run the TSDF_Creator, the obstacle cloud (self.obs_points / self.obs_pcd) is always empty. As a result, the subsequent call to np.amax(self.obs_points, axis=0) in _set_map_limits_and_start_coordinates() throws an error.

What I’ve Checked So Far:

Depth-image reprojection and odometry inputs appear correct (the initial reconstructed map looks as expected).
No errors or warnings during the depth‐to‐point‐cloud conversion stage.
Free-space points are populated and rendered properly (see screenshot below).
experimented with the ground_height and robot_height

Do you have any suggestions for why self.obs_pcd might be empty? Are there particular parameters in TSDF_Creator that I should double-check?

Any guidance would be greatly appreciated. Thank you in advance for your help!

Reconstructed PointCloud:

"Free-space" PointCloud:

May 05 '25 11:05 illuminate97