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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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TF to MSG: Quaternion Not Properly Normalized ?? #142

Open Wuxinxiaoshifu opened 2 years ago

Wuxinxiaoshifu commented 2 years ago

[ERROR] [1647922884.020933792]: Not able to lookup transform [ WARN] [1647922884.020993380]: TF to MSG: Quaternion Not Properly Normalized Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "camera_0" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (nan nan nan nan) at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera_0" from authority "unknown_publisher" because of an invalid quaternion in the transform (nan nan nan nan)

algorithmsummer commented 2 years ago

Hi, do you have solved the problems?

0NNS0 commented 1 year ago

我也遇到了这个问题，然后得到了解决。 我遇到这个问题的情况是：我在电脑上对录制的rosbag进行标定。 解决问题的情况是：我在电脑上对传感器进行实时的标定。 原因我认为是：如果对录制的rosbag进行标定，雷达的时间戳是录制时的时间戳，而aruco mapping的时间戳是当前运行程序时的时间戳，所以TF不会进行转化。 所以为了避免此问题的出现，必须对传感器进行实时的标定，而非录制bag后再进行标定。