Tomography config params

[manthan99]

Hello

Thank you for the amazing work. I had a question regarding the params used for computing the traversability. Could you kindly provide a rough description of the trav params (Or simply what are the corresponding symbols of the params in the paper). I am specifically interested in the theta_b, theta_p and theta_s params from the paper and their relation to the slope_max, step_max and standable_ratio params.

This would save me the trouble of reading the codebase.

Thanks

Best
Manthan

[Jackeyloveqwq]

Hello, have you run this code? After I run python3 tomography.py --scene Spiral, there is no output for the next step. I would like to ask how long does it take to process a pcd? Thank you very much!!

[gogojjh]

@Jackeyloveqwq Hi could you show me the terminal output?
I have tested on my system, the process time will last aroung 30ms (not remember a lot) if GPU is used (4090Ti).
Have you checked whether the GPU is used? The time will be very long if only CPU is used.

[byangw]

@Jackeyloveqwq @gogojjh Hello, please ensure all the prerequisites are correctly installed, verify that the PCD file is in the correct location, and confirm that roscore is running. For the Spiral scenario, the point cloud processing and scene tomogram generation can be completed on the GPU within several milliseconds. The following is the console output under normal conditions (CPU: AMD Ryzen 9 3950X, GPU: NVIDIA RTX 3090, with the program benchmarked over 10 repeated runs, averaging 16.58ms per processing cycle):

[INFO] [1739779929.146464]: PCD points: 231885
[INFO] [1739779929.378868]: Map center: [-20.60, -11.80]
[INFO] [1739779929.379730]: Dim_x: 413
[INFO] [1739779929.380272]: Dim_y: 209
[INFO] [1739779929.380784]: Num slices init: 46
[INFO] [1739779929.827246]: Num slices simp: 5
[INFO] [1739779929.828152]: Num repeats (for benchmarking only): 10
[INFO] [1739779929.828736]: -- avg t_map (ms): 1.279098
[INFO] [1739779929.829254]: -- avg t_trav (ms): 2.686560
[INFO] [1739779929.829758]: -- avg t_simp (ms): 9.600506
[INFO] [1739779929.830258]: -- avg t_all (ms): 16.580963
[INFO] [1739779929.850235]: Tomogram exported: spiral0.3_2.pickle

If additional issues arise, please provide your console output for further assistance :)

[Jackeyloveqwq]

@Jackeyloveqwq您好，能给我看一下终端输出吗？ 我已经在我的系统上测试过了，如果使用 GPU（4090Ti），处理时间将持续大约 30ms（记不清有多少）。 您是否检查过是否使用了 GPU？如果仅使用 CPU，时间会很长。

Thank you for your reply! I ran python3 tomography.py --scene Spiral and there was no output in the terminal. When debugging, I found that the program was always looping in rospy.init_node()

[Jackeyloveqwq]

@Jackeyloveqwq @gogojjh您好，请确保所有先决条件均已正确安装，验证PCD 文件是否位于正确的位置，并确认roscore正在运行。对于_Spiral_场景，点云处理和场景断层图生成可以在几毫秒内在 GPU 上完成。以下是在正常条件下的控制台输出（CPU：AMD Ryzen 9 3950X，GPU：NVIDIA RTX 3090，程序经过 10 次重复运行的基准测试，平均每个处理周期16.58ms ）：

[INFO] [1739779929.146464]: PCD 点数：231885 [INFO] [1739779929.378868]: 地图中心：[-20.60, -11.80] [INFO] [1739779929.379730]: Dim_x: 413 [INFO] [1739779929.380272]: Dim_y: 209 [INFO] [1739779929.380784]: 初始化切片数：46 [INFO] [1739779929.827246]: 简化切片数：5 [INFO] [1739779929.828152]: 重复次数（仅用于基准测试）：10 [INFO] [1739779929.828736]: -- 平均 t_map（毫秒）：1.279098 [INFO] [1739779929.829254]: -- 平均 t_trav（毫秒）：2.686560 [INFO] [1739779929.829758]: -- 平均 t_simp（毫秒）：9.600506 [INFO] [1739779929.830258]: -- 平均 t_all（毫秒）：16.580963 [INFO] [1739779929.850235]: 断层扫描图像导出：spiral0.3_2.pickle

如果出现其他问题，请提供您的控制台输出以获得进一步的帮助:)

Thanks for your reply! All prerequisites have been installed successfully. I downloaded it in the ubuntu local environment, not using the conda virtual environment. My CUDA version is 12.1, cupy version is 13.3.0, and typing cp.cuda.is_available() returns True. The PCD file has been placed in the correct location, and roscore and rviz are also open. What confuses me is that after typing python3 tomography.py --scene Spiral, the computer case is running like crazy, but nvidia-smi shows that the GPU utilization is only 5%. I don’t have a graphics card mounted. What might be wrong?

[byangw]

Thank you for your reply! I ran python3 tomography.py --scene Spiral and there was no output in the terminal. When debugging, I found that the program was always looping in rospy.init_node()

Please double-check whether rospy.init_node() has been executed successfully. If not, ensure your ROS environment and rospy installation are properly configured. To further diagnose the issue, step through the initialization of the Tomography() class, confirm whether the PCD file is loaded correctly and the process() function is running smoothly. This will help identify exactly where the problem occurs.

[Jackeyloveqwq]

谢谢回复！我运行了python3 tomography.py --scene Spiral，终端没有任何输出。调试时发现程序一直在rospy.init_node()中循环

请仔细检查**rospy.init_node()**是否已成功执行。如果没有，请确保您的 ROS 环境和 rospy 安装配置正确。要进一步诊断问题，请逐步完成 Tomography() 类的初始化，确认 PCD 文件是否正确加载以及 process() 函数是否运行顺畅。这将有助于准确识别问题发生的位置。

Hi, tomography.py and plan.py are now working, thanks for your creative work!!