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ankitdhall / lidar_camera_calibration

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"
http://arxiv.org/abs/1705.09785
GNU General Public License v3.0
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Failed to find match for field 'intensity'. #110

Open Deadmin1 opened 4 years ago

Deadmin1 commented 4 years ago

Heay,

running into an issue with an Hesai Lidar with 40 beams. The Aruco Mapping with the Mono8 window opens and is working properly. But i cant get the other windows to open.

I get an error: Failed to find match for field 'intensity'.

and shortly after the process dies. 

[ INFO] [1575924360.049107156]: Calibration file path: here/is/my/correct/path
[ INFO] [1575924360.049167227]: Number of markers: 2
[ INFO] [1575924360.049192328]: Marker Size: 0.2
[ INFO] [1575924360.049204712]: Type of space: plane
[ INFO] [1575924360.049221238]: ROI allowed: 0
[ INFO] [1575924360.049234109]: ROI x-coor: 1769166196
[ INFO] [1575924360.049245793]: ROI y-coor: 1769166196
[ INFO] [1575924360.049263134]: ROI width: 1633904996
[ INFO] [1575924360.049277923]: ROI height: 1415865716
[ INFO] [1575924360.054787663]: Calibration data loaded successfully
Size of the frame: 1600 x 1200
Limits: -2.5 to 2.5
Limits: -4 to 4
Limits: 0 to 1.7
Number of markers: 2
Intensity threshold (between 0.0 and 1.0): 0
useCameraInfo: 0
Projection matrix: 
[1272.4871, 0, 789.27271, 0;
 0, 1265.7666, 584.11261, 0;
 0, 0, 1, 0]
MAX_ITERS: 100
Lidar_type: Hesai
initial rotation: 1.57 -1.57 0
initial translation: 0 0 0
[ INFO] [1575924360.063375333]: Reading CameraInfo from configuration file
30=(405.588,591.101) (471.704,535.536) (528.049,598.456) (463.571,653.31) Txyz=-0.774049 0.0172452 2.97846 Rxyz=-1.40402 -0.927983 0.413323 
178=(1193.01,456.181) (1260.05,408.106) (1309.59,472.103) (1241.32,519.024) Txyz=1.12448 -0.308032 3.12825 Rxyz=-1.05202 -0.50262 0.817332 
[ INFO] [1575924360.572123152, 1575910507.309239132]: First marker with ID: 30 detected
[ WARN] [1575924360.706856006, 1575910507.452158267]: TF to MSG: Quaternion Not Properly Normalized
[ INFO] [1575924360.707187009, 1575910507.452158267]: Velodyne scan received at 1.57591e+09
[ INFO] [1575924360.707256219, 1575910507.452158267]: marker_6dof received at 1.57591e+09
**Failed to find match for field 'intensity'.**

Initial Rot 0.000796274    -0.999999 -0.000796274
           0  0.000796274           -1
           1  0.000796274  6.34053e-07
30=(405.566,591.087) (471.696,535.563) (528.014,598.482) (463.566,653.288) Txyz=-0.774198 0.0172613 2.97885 Rxyz=-1.40202 -0.927273 0.414251 
178=(1192.99,456.103) (1260.01,408.145) (1309.69,472.122) (1241.21,518.977) Txyz=1.12329 -0.307737 3.12508 Rxyz=-1.04242 -0.501171 0.8152 
30=(405.595,591.139) (471.659,535.549) (528.023,598.456) (463.538,653.271) Txyz=-0.77428 0.0172601 2.97912 Rxyz=-1.40251 -0.928486 0.412504 
178=(1193.03,456.173) (1260,408.123) (1309.62,472.119) (1241.23,519.051) Txyz=1.1243 -0.307969 3.12791 Rxyz=-1.0519 -0.501758 0.818801 
[find_transform-2] process has died [pid 6079, exit code -11, cmd /some/path/find_transform-2.log].
log file: /some/path/find_transform-2*.log
30=(405.57,591.036) (471.672,535.57) (528.009,598.49) (463.497,653.373) Txyz=-0.774398 0.0172772 2.97939 Rxyz=-1.40721 -0.925491 0.416767 
178=(1192.95,456.101) (1260.04,408.204) (1309.69,472.204) (1241.25,518.983) Txyz=1.12271 -0.307474 3.12348 Rxyz=-1.03631 -0.499667 0.814335 
30=(405.576,591.09) (471.649,535.562) (528.023,598.478) (463.586,653.298) Txyz=-0.774291 0.0172652 2.97915 Rxyz=-1.40217 -0.924592 0.416434 
178=(1192.93,456.216) (1259.98,408.112) (1309.64,472.109) (1241.22,518.962) Txyz=1.12306 -0.307655 3.12464 Rxyz=-1.04367 -0.504198 0.810837 
30=(405.577,591.126) (471.661,535.546) (528.003,598.451) (463.586,653.281) Txyz=-0.774329 0.0172513 2.97933 Rxyz=-1.40325 -0.927179 0.413571 
178=(1192.9,456.233) (1260,408.138) (1309.65,472.138) (1241.25,518.995) Txyz=1.12273 -0.30749 3.12368 Rxyz=-1.04239 -0.504164 0.810126 
30=(405.546,591.139) (471.695,535.558) (528.032,598.452) (463.534,653.27) Txyz=-0.773879 0.0172638 2.97759 Rxyz=-1.40008 -0.930954 0.410213 
178=(1192.87,456.192) (1260.05,408.117) (1309.62,472.162) (1241.34,518.901) Txyz=1.12261 -0.307518 3.12325 Rxyz=-1.0368 -0.502719 0.809209 
30=(405.565,591.105) (471.682,535.558) (527.992,598.486) (463.5,653.299) Txyz=-0.774313 0.0172756 2.97908 Rxyz=-1.40386 -0.928947 0.412876 
178=(1192.96,456.169) (1260.02,408.152) (1309.67,472.134) (1241.32,518.946) Txyz=1.12315 -0.307647 3.12462 Rxyz=-1.03915 -0.500882 0.812648 
30=(405.511,591.131) (471.669,535.558) (528.021,598.487) (463.554,653.228) Txyz=-0.773808 0.0172612 2.97715 Rxyz=-1.39592 -0.928849 0.412199 
178=(1192.87,456.168) (1260.08,408.163) (1309.56,472.127) (1241.28,519.05) Txyz=1.12327 -0.30765 3.12519 Rxyz=-1.04782 -0.506199 0.811384