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DCSI2022 / AFLI_Calib

AFLI-Calib: Robust LiDAR-IMU extrinsic self-calibration based on adaptive frame length LiDAR odometry
GNU General Public License v2.0
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运行出具错 terminate called after throwing an instance of 'std::invalid_argument' #1

Closed wuming122333 closed 5 days ago

wuming122333 commented 2 weeks ago

wolfy@wolfy-DELL:~/calib/AFLI_Calib$ source ./devel/setup.bash wolfy@wolfy-DELL:~/calib/AFLI_Calib$ roslaunch afli_calib run.launch ... logging to /home/wolfy/.ros/log/e694a518-6516-11ef-a755-25cc4ebfc494/roslaunch-wolfy-DELL-525997.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://wolfy-DELL:45723/

SUMMARY

PARAMETERS

NODES / afl_lidarOdometry (afli_calib/afl_lidarOdometry)

ROS_MASTER_URI=http://localhost:11311

process[afl_lidarOdometry-1]: started with pid [526018] Multi thread started Let's start! the bag processed is: afl_lidarOdometry-1.log terminate called after throwing an instance of 'std::invalid_argument' what(): stoi [afl_lidarOdometry-1] process has died [pid 526018, exit code -6, cmd /home/wolfy/calib/AFLI_Calib/devel/lib/afli_calib/afl_lidarOdometry __name:=afl_lidarOdometry __log:=/home/wolfy/.ros/log/e694a518-6516-11ef-a755-25cc4ebfc494/afl_lidarOdometry-1.log]. log file: /home/wolfy/.ros/log/e694a518-6516-11ef-a755-25cc4ebfc494/afl_lidarOdometry-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

wuming122333 commented 2 weeks ago

launch文件中的内容：

wuming122333 commented 2 weeks ago

rosrun 启动提示问题如下： wolfy@wolfy-DELL:~/calib/AFLI_Calib$ rosrun afli_calib afl_lidarOdometry /media/wolfy/DATA/test_RS2VLP.bag 2 /velodyne_points 0.5 0.1 0 60 Multi thread started Let's start! the bag processed is: test_RS2VLP.bag the lidar type is: vlp-16! the lidar topic is: /velodyne_points match_stability_threshold: 0.5 motion_linearity_threshold: 0.1 bag start: 0 bag_dur: 60 we start load data! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! 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vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! vlp-16! lidar data size:0 imu data size:27589 imu dt: 0.00999982s Load Data time consume: 19.1033 s all lidar point size:0 we start adaptive frame length LiDAR odometry! 段错误 (核心已转储) wolfy@wolfy-DELL:~/calib/AFLI_Calib$

wuming122333 commented 2 weeks ago

bag包具体参数： 32线雷达 wolfy@wolfy-DELL:/media/wolfy/DATA$ rosbag info test_RS2VLP.bag path: test_RS2VLP.bag version: 2.0 duration: 4:35s (275s) start: Jan 19 2024 01:00:51.68 (1705597251.68) end: Jan 19 2024 01:05:27.55 (1705597527.55) size: 8.5 GB messages: 33092 compression: none [5504/5504 chunks] types: sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /imu/data 27589 msgs : sensor_msgs/Imu
/rslidar_points 2759 msgs : sensor_msgs/PointCloud2 /velodyne_points 2744 msgs : sensor_msgs/PointCloud2

wwtinwhu commented 2 weeks ago

Thanks for your test! The current version does not support Velodyne LiDAR, only the API interface is left: https://github.com/DCSI2022/AFLI_Calib/blob/f9f04e0da90b9c57ef03a58c15daad8d6dbfac49/include/io.cpp#L91-L120

wuming122333 commented 2 weeks ago

请问如果我想适配velodyne或者其他类型的雷达，是否只需要在点云预处理部分增加相应雷达结构就可以

wwtinwhu commented 2 weeks ago

Quote reply

是的，欢迎提交pull request！

wuming122333 commented 2 weeks ago

仍然提示错误： wolfy@wolfy-DELL:~/calib/AFLI_Calib$ rosrun afli_calib afl_lidarOdometry /media/wolfy/DATA/test_RS2VLP.bag 2 /velodyne_points 0.5 0.1 0 60 Multi thread started Let's start! the bag processed is: test_RS2VLP.bag the lidar type is: vlp-16! the lidar topic is: /velodyne_points match_stability_threshold: 0.5 motion_linearity_threshold: 0.1 bag start: 0 bag_dur: 60 we start load data! lidar data size:600 imu data size:27589 imu dt: 0.00999982s Load Data time consume: 22.3284 s all lidar point size:11169872 we start adaptive frame length LiDAR odometry! start build kdtree kdtree build success adaptive frame point size: 11169872 after downsample size: 232328 free(): double free detected in tcache 2 已放弃 (核心已转储)

wwtinwhu commented 2 weeks ago

Adaptive frame point size is consistent with all lidar point size, which indicates that there is a problem with the timestamp of the laser points.

wwtinwhu commented 2 weeks ago

Any update? @wuming122333