Hi @LimHyungTae ! Thank you for your excellent work. I ran the demo on my computer and the result looks great. However, when I tried ERASOR on my own dataset, I encountered the following error:

main_in_your_env: /usr/include/pcl-1.8/pcl/conversions.h:252: void pcl::toPCLPointCloud2(const pcl::PointCloud<PointT>&, pcl::PCLPointCloud2&) [with PointT = pcl::PointXYZI]: Assertion `cloud.points.size () == cloud.width * cloud.height' failed.

This happens on a specific frame. I checked the corresponding .pcd file but it looked alright. I also tried this suggestion but it did not work. Could you please give me some hints on how to solve this, thanks!

Thanks for your great work! According to your introduction, I encountered the following problem. I can't find node.h from the source file. @LimHyungTae Could you please give me some help? 🥺

main_in_your_env: /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:110: Eigen::internal::variable_if_dynamic<T, Value>::variable_if_dynamic(T) [with T = long int; int Value = 3]: Assertionv == T(Value)' failed. [main_in_your_env-2] process has died [pid 32096, exit code -6, cmd /home/dt/ROS_WS/erasor_ws/devel/lib/erasor/main_in_your_env __name:=main_in_your_env __log:=/home/dt/.ros/log/5305fe14-348b-11ec-9ebf-081f7134fb94/main_in_your_env-2.log]. log file: /home/dt/.ros/log/5305fe14-348b-11ec-9ebf-081f7134fb94/main_in_your_env-2*.log`

hi , i recently tried your work and merged it to our work and it was excellent! thanks for your wonderful contribution to the dynamic objects removing! and i wonder if there is a way to just run your ERASOR to remove objects in just a part of a whole map bag, which means i don't have to run it on my whole map since it may inevitably delete some static pointcloud. looking forward to your reply!

Thank you for sharing your interesting work, @LimHyungTae But I can't find this command:

roslaunch erasor compare_results.launch

Can you update this missng file?

The package.xml of this package has the default TODO entry for the license used, which makes it quite difficult use it in a legally consistent manner. Would be great if a valid license entry could be added.

Hi @LimHyungTae， thank you for your great work! I have one question. If i use Velodyne 32E's data, what parameters should be changed? The parameters of Lidar are below.

first, i get the whole map by mapgen.launch .second , i run the run_erasor.launch to get the result map by erasor. then, how can i get the dynamic points cloud, and the result map by erasor should the static point cloud.

This pull request fix two problems here, if you tried in your own dataset, maybe you will also get this error pop out.

1. if the ground point is zero, origin repo's code will stop kill by itself and print this error:

   I20221202 20:08:49.231433 79705 erasor.cpp:619] ground0
   main_in_your_env_ros: /usr/include/pcl-1.10/pcl/conversions.h:251: void pcl::toPCLPointCloud2(const pcl::PointCloud<PointT>&, pcl::PCLPointCloud2&) [with PointT = pcl::PointXYZI]: Assertion `cloud.points.size () == cloud.width * cloud.height' failed.
   [main_in_your_env_ros-2] process has died [pid 79705, exit code -6, cmd /home/kin/workspace/ERASOR_ws/devel/lib/erasor/main_in_your_env_ros __name:=main_in_your_env_ros __log:=/home/kin/.ros/log/a4aa26be-7274-11ed-b5b3-ef4eaaa7a243/main_in_your_env_ros-2.log].
   log file: /home/kin/.ros/log/a4aa26be-7274-11ed-b5b3-ef4eaaa7a243/main_in_your_env_ros-2*.log
   

2. poses read the matrix construction will cause potential problem, if you run on your dataset:

   tf4x4_cam.topLeftCorner<3, 3>(0, 0) = q.toRotationMatrix();
   tf4x4_cam.topRightCorner(3, 1) = ts.vector();
   

   Error like this one

   /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:113: Eigen::internal::variable_if_dynamic<T, Value>::variable_if_dynamic(T) [with T = long int; int Value = 3]: Assertion `v == T(Value)' failed.
   

Hello, I'm sorry to bother you. I test your method in my own datasets, but I found the false positive points is very large. In the raw map, the stat. pts is 844762, and in the estimated map, the est.stat.pts is 475379, which leading the preservation rate is very low. Is it because of the parameter setting that causes this situation? How to deal with it? I'm waiting for your reply! Best!

Dear Author, I'm sorry to bother you, I have some questions about the calculation of pr/rr. I notice the gt pcd files in the erasor_paper_pcds are generated by your mapgen.cpp method, so when you generate the estimated maps by other methods such as Removert, did you take any steps such as ensuring the consistency of downsample_voxel_size to get more accurate results? I'm waiting for your reply! Best Wishes!

[ INFO] [1668568723.312462663]: PASS! [ INFO] [1668568723.411885393]: 1303th frame is comming [ INFO] [1668568723.490956884]: 1014759=1014759| 138259 + 876500 [ INFO] [1668568723.607537384]: Extracting VoI takes 0.1828s main_in_your_env_ros: /usr/include/pcl-1.8/pcl/conversions.h:252: void pcl::toPCLPointCloud2(const pcl::PointCloud&, pcl::PCLPointCloud2&) [with PointT = pcl::PointXYZI]: Assertion `cloud.points.size () == cloud.width * cloud.height' failed.

Hi ! This is such a nice work and thank you very much for your contribution ! My question is that how can I run the whole KITTI05 instead of a part of the dataset? I would be very grateful if you can give me some advice! Thank you for seeing my question！

main_in_your_env_ros: /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:110: Eigen::internal::variable_if_dynamic<T, Value>::variable_if_dynamic(T) [with T = long int; int Value = 3]: Assertion `v == T(Value)' failed. [main_in_your_env_ros-1] process has died [pid 32655, exit code -6, cmd /home/dsj/catkin_erasor/devel/lib/erasor/main_in_your_env_ros __name:=main_in_your_env_ros __log:=/home/dsj/.ros/log/4f1bf28e-2dac-11ed-a109-d05099fb0c81/main_in_your_env_ros-1.log]. log file: /home/dsj/.ros/log/4f1bf28e-2dac-11ed-a109-d05099fb0c81/main_in_your_env_ros-1*.log