Open Richardson-Chong opened 2 years ago
And I really want to know that how to get 1824 in width.
And after push the bottom "Initialization",the node died as follows: Ceres Solver Report: Iterations: 12, Initial cost: 1.179723e+07, Final cost: 1.305846e+02, Termination: CONVERGENCE [li_calib_gui-2] process has died [pid 15957, exit code -11, cmd /home/swayrich/ROS_WS/catkin_li_calib/devel/lib/li_calib/li_calib_gui name:=li_calib_gui log:=/home/swayrich/.ros/log/1b3ee1c0-f12a-11eb-bc20-d46a6ac4229d/li_calib_gui-2.log]. log file: /home/swayrich/.ros/log/1b3ee1c0-f12a-11eb-bc20-d46a6ac4229d/li_calib_gui-2*.log
And after push the bottom "Initialization",the node died as follows: Ceres Solver Report: Iterations: 12, Initial cost: 1.179723e+07, Final cost: 1.305846e+02, Termination: CONVERGENCE [li_calib_gui-2] process has died [pid 15957, exit code -11, cmd /home/swayrich/ROS_WS/catkin_li_calib/devel/lib/li_calib/li_calib_gui name:=li_calib_gui log:=/home/swayrich/.ros/log/1b3ee1c0-f12a-11eb-bc20-d46a6ac4229d/li_calib_gui-2.log]. log file: /home/swayrich/.ros/log/1b3ee1c0-f12a-11eb-bc20-d46a6ac4229d/li_calib_gui-2*.log
Hi, Have you solved this problem?
Unsolved... And the project dies again and again mightly caused by pcl or ndt? I've reinstall the system and nothing changed. Have you figured out with your own lidar?
Unsolved... And the project dies again and again mightly caused by pcl or ndt? I've reinstall the system and nothing changed. Have you figured out with your own lidar?
Unluckily, not yet. I'll let you know if there's any progress.
Thx for your help!
Could you solve the proble? I face the error
Ceres Solver Report: Iterations: 2, Initial cost: 3.920000e-06, Final cost: 1.010307e-14, Termination: CONVERGENCE
[ WARN] [1662137064.943109275]: [Initialization] fails.
Same error, After pressing the initialization .... tried many times
Load dataset from /home/a/Downloads/bfiles/Garage-01.bag /velodyne_packets: 341 /imu1/data: 14033 Ceres Solver Report: Iterations: 12, Initial cost: 1.179887e+07, Final cost: 3.787628e+02, Termination: CONVERGENCE
[li_calib_gui-2] process has died [pid 6984, exit code -11, cmd /home/a/april_lidar_imu_calib/devel/lib/li_calib/li_calib_gui name:=li_calib_gui log:=/home/a/.ros/log/2dc4a8cc-a694-11ed-8568-88aedd1681ad/li_calib_gui-2.log]. log file: /home/a/.ros/log/2dc4a8cc-a694-11ed-8568-88aedd1681ad/li_calib_gui-2*.log
Can anyone guide on this issue?
Based on authors suggets and rs_16 manual, I have rewritten vlp_common.h as follows:
`void unpack_scan_rs(const rslidar_msgs::rslidarScan::ConstPtr &lidarMsg, TPointCloud &outPointCloud) const{ outPointCloud.clear(); outPointCloud.header = pcl_conversions::toPCL(lidarMsg->header); if (m_modelType == ModelType::RS_16) { outPointCloud.height = 16; outPointCloud.width = 24(int)lidarMsg->packets.size(); outPointCloud.is_dense = false; outPointCloud.resize(outPointCloud.height outPointCloud.width); }
}`
`private: void setParameters(ModelType modelType) { m_modelType = modelType; m_config.max_range = 200; m_config.min_range = 0.2; m_config.min_angle = 0; m_config.max_angle = 36000; // Set up cached values for sin and cos of all the possible headings for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) { float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index); cos_rottable[rot_index] = cosf(rotation); sin_rottable[rot_index] = sinf(rotation); }
}`
And the code runs with some problems. I don't know whether caused by my wrong code or other kind of things. In Initialization, after optimization with data collected from a car platform, the terminal shows
[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.
and Initialization failed. I show my rewritten code and desirely hope someone will check it. And sincerely thank for autorths' sharing!