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chennuo0125-HIT / lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics
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failed to find match for field "intensity" #4

Closed heirenlop closed 3 years ago

heirenlop commented 3 years ago

Hi, when I use XYZI type point cloud calibration, it always shows add lidar msg and no lidar and imu data, when I use XYZIRT type point cloud calibration, it shows failed to find match for field "intensity", how can I solve this problem?

chennuo0125-HIT commented 3 years ago

could you provide your data bag ?

heirenlop commented 3 years ago

could you provide your data bag ?

this is XYZI type bag yang@yang-N15-17RD:~$ rosbag info imu+lidar1-25.bag path: imu+lidar1-25.bag version: 2.0 duration: 28.2s start: Jan 23 2021 10:03:00.13 (1611367380.13) end: Jan 23 2021 10:03:28.30 (1611367408.30) size: 274.9 MB messages: 3097 compression: none [282/282 chunks] types: formation/gps [3e03ef8b0522257d09fbc1640cd1c923] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /rslidar_points 281 msgs : sensor_msgs/PointCloud2 /v0_gps_info 2816 msgs : formation/gps and this is XYZI type point cloud calibration

`yang@yang-N15-17RD:~/jjj$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch ... logging to /home/yang/.ros/log/35fc45b8-5ec5-11eb-afd0-94659cc01a70/roslaunch-yang-N15-17RD-28374.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://yang-N15-17RD:42523/

SUMMARY

PARAMETERS

NODES / calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)

auto-starting new master process[master]: started with pid [28385] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 35fc45b8-5ec5-11eb-afd0-94659cc01a70 process[rosout-1]: started with pid [28398] started core service [/rosout] process[calib_exR_lidar2imu_node-2]: started with pid [28408] [ INFO] [1611548668.006692070]: add lidar msg ...... [ INFO] [1611548673.084222014]: add lidar msg ...... [ INFO] [1611548678.092884632]: add lidar msg ...... [ INFO] [1611548683.156285960]: add lidar msg ...... [ INFO] [1611548688.256857070]: add lidar msg ...... [ INFO] [1611548693.358953362]: add lidar msg ...... [ INFO] [1611548698.431403995]: add lidar msg ...... [ INFO] [1611548703.554279874]: add lidar msg ...... no lidar data or imu data !!! result euler angle(RPY) : 0 0 0 result extrinsic rotation matrix : 1 0 0 0 1 0 0 0 1 [calib_exR_lidar2imu_node-2] process has finished cleanly log file: /home/yang/.ros/log/35fc45b8-5ec5-11eb-afd0-94659cc01a70/calib_exR_lidar2imu_node-2*.log ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done`

thsi is XYZIRT bag

path: imu+lidar1-23.bag version: 2.0 duration: 37.0s start: Jan 23 2021 09:45:15.13 (1611366315.13) end: Jan 23 2021 09:45:52.09 (1611366352.09) size: 362.0 MB messages: 4057 compression: none [371/371 chunks] types: formation/gps [3e03ef8b0522257d09fbc1640cd1c923] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /rslidar_points 370 msgs : sensor_msgs/PointCloud2 /v0_gps_info 3687 msgs : formation/gps

this is XYZIRT type point cloud calibration

Failed to find match for field 'intensity

chennuo0125-HIT commented 3 years ago

hi, there is no imu data in your bagfile, your bagfile just include rslidar cloud and gps msgs as follows

yang@yang-N15-17RD:~$ rosbag info imu+lidar1-25.bag path: imu+lidar1-25.bag version: 2.0 duration: 28.2s start: Jan 23 2021 10:03:00.13 (1611367380.13) end: Jan 23 2021 10:03:28.30 (1611367408.30) size: 274.9 MB messages: 3097 compression: none [282/282 chunks] types: formation/gps [3e03ef8b0522257d09fbc1640cd1c923] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /rslidar_points 281 msgs : sensor_msgs/PointCloud2 /v0_gps_info 2816 msgs : formation/gps

my rep has given warnning as follows:

no lidar data or imu data !!!
chennuo0125-HIT commented 3 years ago

my rep function is to calibrate imu and lidar extrinsics, so you need provide bag with imu and lidar data :)

heirenlop commented 3 years ago

ok, thanks for your reply. I will check my imu driver .