source code sharing

[BobH62]

Hello, thank you for your inspiring work. I am working on testing s_graphs using my own dataset. It really work, but not perfectly. I am wondering if you could share the source code so I could adjust some parameters that could modify the plane clustering performance.

[hridaybavle]

Hello @BobH62

Thanks for your interest in S-Graphs. We are working on making the source code and we plan to have it soon.

In the meantime, if you can tell me how you are launching it on your dataset maybe I can help. To me the problem looks that your odometry and your 3D lidar measurements might not be properly synchronized and thus there are some keyframe (spheres) not being registered.

If you are executing a rosbag can you trying running it at a playback speed of 0.1, to see it it solves the problem. rosbag play name_rosbag.bag -r 0.1 --clock