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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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old issue of stucking after "Reading CameraInfo from topic done1" #79

Closed pedghz closed 5 years ago

pedghz commented 5 years ago

old issue of stucking after "Reading CameraInfo from topic done1" Hi,

I have read previous issues and tried to solve this problem, but nothing helps! I have synchronized topics using message_filters and now topics have an exactly same time stamp. I also have uncommented the aruco_mapping line in the find_transform.launch file. But still, the process stuck, the Mono8 window is frozen and the program does not proceed further. Can anyone help please????? Here is the output after launching find_transform:

... logging to /home/pedram/.ros/log/22d59f44-2b7c-11e9-8e8a-90b11c970001/roslaunch-WS-4022- > > NPC-2242.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://WS-4022-NPC:37505/

SUMMARY

PARAMETERS

  • /aruco_mapping/calibration_file: /home/pedram/catk...
  • /aruco_mapping/marker_size: 0.212
  • /aruco_mapping/num_of_markers: 2
    • /aruco_mapping/roi_allowed: False
    • /aruco_mapping/space_type: plane
    • /lidar_camera_calibration/camera_frame_topic: /image_raw_sync
    • /lidar_camera_calibration/camera_info_topic: /camera_info_sync
    • /lidar_camera_calibration/velodyne_topic: /rslidar_points_sync
    • /rosdistro: kinetic
    • /rosversion: 1.12.14

NODES / aruco_mapping (aruco_mapping/aruco_mapping) find_transform (lidar_camera_calibration/find_transform)

ROS_MASTER_URI=http://localhost:11311

process[aruco_mapping-1]: started with pid [2263] process[find_transform-2]: started with pid [2264] [ INFO] [1549634610.566820061]: Calibration file path: /home/pedram/catkin-ws/src/aruco_mapping/data/zed_left_uurmi.ini [ INFO] [1549634610.566907701]: Number of markers: 2 [ INFO] [1549634610.566936598]: Marker Size: 0.212 [ INFO] [1549634610.566951667]: Type of space: plane [ INFO] [1549634610.566966437]: ROI allowed: 0 [ INFO] [1549634610.566979315]: ROI x-coor: 32764 [ INFO] [1549634610.566992345]: ROI y-coor: 32764 [ INFO] [1549634610.567007842]: ROI width: 0 [ INFO] [1549634610.567023875]: ROI height: 4280827 [ INFO] [1549634610.568772593]: Calibration data loaded successfully Size of the frame: 800 x 450 Limits: -3.5 to 3.5 Limits: -5 to 5 Limits: -2 to 2 Number of markers: 2 Intensity threshold (between 0.0 and 1.0): 0.02 useCameraInfo: 1 Projection matrix: [1421.1016, 0, 389.20328, 0; 0, 1423.6897, 222.87619, 0; 0, 0, 1, 0] MAX_ITERS: 100 [ INFO] [1549634610.587230125]: Reading CameraInfo from topic done1

pedghz commented 5 years ago

It is working now! in the launch file I was mentioning the image topic name in a wrong way :)