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APRIL-ZJU / OA-LICalib

[TRO 2022] Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
GNU General Public License v3.0
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Failed on Ouster LiDAR OS1-64 Gen 1 #3

Open samsdolphin opened 2 years ago

samsdolphin commented 2 years ago

Hi, I'm testing on the Newer College Dataset with the Ouster OS1-64 Gen 1 LiDAR. I have modified the parameters such as LidarModel, topic_lidar and topic_imu, etc. in the file simu.yaml. However, the program failed with the following error:

Load dataset from /media/sam/T7/OldCollege/long_experiment/out.bag bag start | bag durr : 0 | 7 LiDAR model set as Ouster 64 points. terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check: n (which is 65536) >= this->size() (which is 65536) [li_calib_node_batch-1] process has died [pid 10989, exit code -6, cmd /home/sam/catkin_ws/devel/lib/oa_licalib/li_calib_node __name:=li_calib_node_batch log:=/home/sam/.ros/log/ad47e158-fa9c-11ec-8598-04922658d7ce/li_calib_node_batch-1.log]. log file: /home/sam/.ros/log/ad47e158-fa9c-11ec-8598-04922658d7ce/li_calib_node_batch-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

May I know how to fix it? Thank you!

Taeyoung96 commented 2 years ago

@samsdolphin
Hi, did you solve the problem?

huanghqc commented 2 years ago

嗨，我正在使用Oster OS1-64 Gen 1 LiDAR在较新的大学数据集上进行测试。我已经修改了文件中的参数，如 和 等。但是，程序失败，并出现以下错误：LidarModel``topic_lidar``topic_imu``simu.yaml

从 /媒体/sam/T7/旧学院/long_experiment/出袋袋开始加载数据集 |袋装 ： 0 |7 激光雷达模型设置为下移 64 点。在抛出“std：：out_of_range”的实例后终止调用什么（）： vector：：_M_range_check： n （这是 65536） >= 这个->大小（） （这是 65536） [li_calib_node_batch-1] 进程已死亡 [pid 10989， 退出代码 -6， cmd /home/sam/catkin_ws/devel/lib/oa_licalib/li_calib_node __name：=li_calib_node_batch log：=/首页/sam/.ros/log/ad47e158-fa9c-11ec-8598-04922658d7ce/li_calib_node_batch-1.log].日志文件： /家/sam/.ros/log/ad47e158-fa9c-11ec-8598-04922658d7ce/li_calib_node_batch-1*.log机器上的所有进程都已死机，则启动将退出关闭处理监视器... ...关闭处理监视器完成

我可以知道如何解决它吗？谢谢！

你解决这个问题了吗

huanghqc commented 2 years ago

@samsdolphin 嗨，你解决了这个问题吗？

你解决这个问题了吗

samsdolphin commented 2 years ago

@samsdolphin 嗨，你解决了这个问题吗？

你解决这个问题了吗

不好意思，我没解决，跑这个数据集我直接用了固定的外参。

TobyLyu commented 1 year ago

Hi, I countered the same issue. I think this may be due to they fixed the _num_firing__ to 2048, but the ouster rosbag was recorded in 1024x20 mode. https://github.com/APRIL-ZJU/OA-LICalib/blob/50af68042111c93cf7c1d8ad36e982ec95e125ef/include/sensor_data/lidar_ouster.h#L49 With the bag recorded in 2048x10 mode, this error was resolved.