Comments (7)
这好像是M2DGR的数采设备吧。没看懂你的问题,你是边record边在跑LIVO么?https://answers.ros.org/question/251403/image_transport-rosbag-issue/
from fast-livo.
这好像是M2DGR的数采设备吧。没看懂你的问题,你是边record边在跑LIVO么?https://answers.ros.org/question/251403/image_transport-rosbag-issue/
谢谢您的回复,用的是livox-mid-70, 外置imu,海康camera,所有硬件同步已完成。
我问了两个问题:
第一个是关于Camera数据接入后开始报错,我提供了gdb调试的报错信息和相关的rosbag.
第二个是”边record边在跑LIVO“的情况下,会出现更多的报错,仅当参考。
咱们不管第二个,只说第一个问题,它的错误链条是:
laserMapping.cpp:1344 ---> lidar_selection.cpp:1065 ---> lidar_selection.cpp:376
也就是在 传递(img=..., pg=...)的时候出错了,请问我现在改怎么排查?
您方便看下rosbag和配置文件指点一下么?
在下从最早的lio1开始跟随您实验室的工作,
每次复现成功都会上传建筑设计行业落地应用的一些案例,
希望这次也有机会为这个项目提供一些数据,再次万分感激您宝贵的时间。
from fast-livo.
from fast-livo.
您好,请问这个问题目前解决了吗?我也遇到了同样的问题:
[New Thread 0x7fff7e7fc700 (LWP 19081)]
[New Thread 0x7fff7dffb700 (LWP 19082)]
[ LIO ]: time: fov_check: 0.000000 fov_check and readd: 0.002374 match: 0.000000 solve: 0.000000 ICP: 0.000474 map incre: 0.004058 total: 0.006905 icp: 0.000416 construct H: 0.000000.
[ INFO ]: get img at time: 1579245924.295512.
[ INFO ]: get point cloud at time: 1579245924.243978 and size: 4291.
[ VIO ]: Raw feature num: 4317.
[ VIO ]: Add 589 3D points.
[ VIO ]: time: addFromSparseMap: 0.000000 addSparseMap: 0.002141 ComputeJ: 0.000000 addObservation: 0.000000 total time: 0.002142 ave_total: 0.002142.
[ INFO ]: get img at time: 1579245924.345247.
[ VIO ]: Raw feature num: 4317.
Thread 1 "fastlivo_mappin" received signal SIGSEGV, Segmentation fault.
0x00007ffff2aa9088 in lidar_selection::LidarSelector::addFromSparseMap (this=this@entry=0x55555c7b40d0, img=...,
pg=...) at /home/cc/fast-livo-ws/src/FAST-LIVO/src/lidar_selection.cpp:376
---Type <return> to continue, or q <return> to quit---
376 float it[height*width] = {0.0};
(gdb)
from fast-livo.
我把报错的地方
float it[height * width] = {0.0};
修改成
std::vector<float> it(height*width, 0);
问题解决了。
但是不知道为什么原来的写法在hku数据集上没有问题,在我自己的数据上就会报错呢?我的图像是1920*1200,和这个有关吗?
from fast-livo.
我把报错的地方
float it[height * width] = {0.0};
修改成
std::vector<float> it(height*width, 0);
问题解决了。
但是不知道为什么原来的写法在hku数据集上没有问题,在我自己的数据上就会报错呢?我的图像是1920*1200,和这个有关吗?
不好意思才回复,刚刚身体康复回到工作室。
是的,报错跟您的图像有关,参数包括不限于:
- cam_width 和 cam_height 表示图像的宽度和高度,
- cam_fx 和 cam_fy 是相机的焦距,
- cam_cx 和 cam_cy 是相机光心在图像平面上的坐标,
- cam_d0、cam_d1、cam_d2 和 cam_d3 是相机的畸变参数。
据我所知,这些都在相机和激光雷达的联合标定过程中可以得到,您可能需要参考如下内容:
我还没解决报错,祝您复现顺利哈 :)
from fast-livo.
按楼上帖子里的链接重新算畸变和内参后解决报错了。
这里提一句,livox_camera_lidar_calibration 里给了5个畸变参数,而pinhole_XX.yaml里只有四个畸变参数(cam_d0~d4),我判断它们的对应关系是:
k1 对应 cam_d0,是相机的径向畸变高阶项系数之一
k2 对应 cam_d1,是相机的径向畸变高阶项系数之一
p1 对应 cam_d2,是相机的切向畸变系数之一
p2 对应 cam_d3,是相机的切向畸变系数之一
虽然报错解决,但是雷达跑出来坐标是飘的, 可能imu或者室内雷达测距不够,但这个issue确实是解决了,close.
from fast-livo.
Related Issues (20)
- GPRMC信号是必要的吗 HOT 7
- 机械雷达是否可以使用呢?该如何使用呢?
- Is there any docker image?
- 请教一下同步的问题 HOT 1
- 关于相机雷达联合标定的问题 HOT 2
- 视觉残差对R的雅可比推导可能有误 HOT 3
- Compiling FAST-LIVO on 22.04 HOT 1
- how to judge the pose after icp EKF
- 如何实时运行而不是跑数据集?
- 使用velodyne16建图效果不佳,不如fast_lio建图清晰 HOT 3
- 使用stm32对激光雷达与imu进行时间同步后,imu数据时间厝错乱? HOT 5
- How to evaluate the performance on the NTU-Viral dataset?
- Camera selection for compatibility with the mid360 lidar
- 谢谢您开源如此出色的工作,请问如何对自己录制的包进行时间同步,有没有好的解决方案呢
- 如何自制手持扫描设备
- omp_set_num_threads(MP_PROC_NUM); 一旦打开,LIO部分,计算点到面会使用多个线程,这是合理的,但为什么在IEKF求解位姿的过程也是多个线程各自进行求解呢?
- Crops and Overlays an upper corner - Fast-Livo with VLP16 and Zed2
- No such file or directory #include <fast_livo/States.h> HOT 2
- corrupted size vs. prev_size [laserMapping-2] process has died
- How can I save it as pcd? when I finished the process of mapping?
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from fast-livo.