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hku-mars / r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
GNU General Public License v2.0
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有关地图大小在增长，但其中没有任何点的问题 #139

Closed Orwlit closed 1 year ago

Orwlit commented 1 year ago

您好！首先非常感谢您将效果如此出色的R3LIVE代码开源，但我在用自己的设备（realsense D435i + livox AVIA）测试时遇到了两个问题：整个过程中里程计是正常的，相机和设备间的外参也经过标定，但地图却没有任何保留下来的数据，同时记录系统状态的标题也被一次次重复打印。

如下图所示，随着相机帧和雷达帧的不断输入，可以看到Pts in maps在一直增长，但rviz中始终没有任何显示出的地图点，同时我发现发布rgb点云的话题中没有任何数据，但数组的长度却一直在增加。

另外很奇怪的一点是，如图左下角终端内容中，记录各种系统信息的数字在持续更新，但其标题却跟着数字被一次次打印出来，我不知道这个问题会不会和地图没有任何内容有关。

Kazam_screenshot_00002

另附上运行时终端打印的所有信息：


... logging to /home/mini/.ros/log/9a692f38-6d56-11ed-aa3e-e1141e553ca6/roslaunch-x86pc-8724.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://x86pc:34931/

SUMMARY
========

PARAMETERS
 * /IMU_topic: /livox/imu
 * /Image_topic: /camera/color/ima...
 * /LiDAR_pointcloud_topic: /laser_cloud_flat
 * /Lidar_front_end/N_SCANS: 6
 * /Lidar_front_end/lidar_type: 1
 * /Lidar_front_end/point_step: 1
 * /Lidar_front_end/using_raw_point: 1
 * /r3live_common/append_global_map_point_step: 4
 * /r3live_common/estimate_i2c_extrinsic: 1
 * /r3live_common/estimate_intrinsic: 1
 * /r3live_common/if_dump_log: 0
 * /r3live_common/image_downsample_ratio: 1
 * /r3live_common/map_output_dir: /home/mini/r3live...
 * /r3live_common/maximum_vio_tracked_pts: 600
 * /r3live_common/minimum_pts_size: 0.01
 * /r3live_common/pub_pt_minimum_views: 3
 * /r3live_common/record_offline_map: 1
 * /r3live_lio/filter_size_corner: 0.3
 * /r3live_lio/filter_size_map: 0.3
 * /r3live_lio/filter_size_surf: 0.3
 * /r3live_lio/filter_size_surf_z: 0.3
 * /r3live_lio/lidar_time_delay: 0
 * /r3live_lio/lio_update_point_step: 4
 * /r3live_lio/max_iteration: 2
 * /r3live_vio/camera_dist_coeffs: [-0.0944205499243...
 * /r3live_vio/camera_ext_R: [-0.0120759, -0.9...
 * /r3live_vio/camera_ext_t: [0.0385914, 0.000...
 * /r3live_vio/camera_intrinsic: [605.114868164062...
 * /r3live_vio/image_height: 480
 * /r3live_vio/image_width: 640
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    r3live_LiDAR_front_end (r3live/r3live_LiDAR_front_end)
    r3live_mapping (r3live/r3live_mapping)
    rvizvisualisation (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[r3live_LiDAR_front_end-1]: started with pid [8745]
process[r3live_mapping-2]: started with pid [8746]
HORIZON
process[rvizvisualisation-3]: started with pid [8752]
=============================================================
App name   : R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
Build date : Nov 25 2022  18:26:01
CPU infos  : 11th Gen Intel(R) Core(TM) i7-1165G7 @ 2.80GHz
RAM infos  : 31.10GB Physical Memory 30.52GB Virtual Memory
OS  infos  : Linux 5.15.0-53-generic (x86_64)
Home dir   : /home/mini/
Current dir: /home/mini/.ros/
Date mow   : 2022/11/26 14:50:55
=============================================================
+++++++++++++++++++++++++++++++++++++++++++++++
Here is the your software environments: 
GCC version          : 9.4.0
Boost version        : 1.71.0
Eigen version        : 3.3.7
OpenCV version       : 4.2.0
+++++++++++++++++++++++++++++++++++++++++++++++
Multi thread started 
[Ros_parameter]: /LiDAR_pointcloud_topic ==> /laser_cloud_flat
[Ros_parameter]: /IMU_topic ==> /livox/imu
[Ros_parameter]: /Image_topic ==> /camera/color/image_raw
======= Summary of subscribed topics =======
LiDAR pointcloud topic: /laser_cloud_flat
IMU topic: /livox/imu
Image topic: /camera/color/image_raw
Image compressed topic: /camera/color/image_raw
=======        -End-                =======
[Ros_parameter]: r3live_common/map_output_dir ==> /home/mini/r3live_output
[Ros_parameter]: r3live_common/append_global_map_point_step ==> 4
[Ros_parameter]: r3live_common/recent_visited_voxel_activated_time ==> 0
[Ros_parameter]: r3live_common/maximum_image_buffer ==> 20000
[Ros_parameter]: r3live_common/tracker_minimum_depth ==> 0.1
[Ros_parameter]: r3live_common/tracker_maximum_depth ==> 200
[Ros_parameter]: r3live_common/track_windows_size ==> 40
[Ros_parameter]: r3live_common/minimum_pts_size ==> 0.01
[Ros_parameter]: r3live_common/record_offline_map ==> 1
[Ros_parameter]: r3live_common/pub_pt_minimum_views ==> 3
[Ros_parameter]: r3live_common/image_downsample_ratio ==> 1
[Ros_parameter]: r3live_common/esikf_iter_times ==> 2
[Ros_parameter]: r3live_common/estimate_i2c_extrinsic ==> 1
[Ros_parameter]: r3live_common/estimate_intrinsic ==> 1
[Ros_parameter]: r3live_common/maximum_vio_tracked_pts ==> 600
[Ros_parameter]: r3live_lio/dense_map_enable ==> 1
[Ros_parameter]: r3live_lio/lidar_time_delay ==> 0
[Ros_parameter]: r3live_lio/max_iteration ==> 2
[Ros_parameter]: r3live_lio/fov_degree ==> 360
[Ros_parameter]: r3live_lio/voxel_downsample_size_surf ==> 0.3
[Ros_parameter]: r3live_lio/voxel_downsample_size_axis_z ==> 0.3
[Ros_parameter]: r3live_lio/filter_size_map ==> 0.3
[Ros_parameter]: r3live_lio/cube_side_length ==> 1e+07
[Ros_parameter]: r3live_lio/maximum_pt_kdtree_dis ==> 0.5
[Ros_parameter]: r3live_lio/maximum_res_dis ==> 0.3
[Ros_parameter]: r3live_lio/planar_check_dis ==> 0.1
[Ros_parameter]: r3live_lio/long_rang_pt_dis ==> 500
[Ros_parameter]: r3live_lio/publish_feature_map ==> 0
[Ros_parameter]: r3live_lio/lio_update_point_step ==> 4
[Ros_parameter]: r3live_vio/Camera Intrinsic: 
605.115       0  326.93
      0 605.208 249.693
      0       0       1
[Ros_parameter]: r3live_vio/Camera distcoeff:  -0.0944205   0.0946728 -0.00807971 8.07461e-05     -0.0222
[Ros_parameter]: r3live_vio/Camera extrinsic R: 
-0.0120759  -0.999497  0.0293101
-0.0124686 -0.0291595  -0.999497
  0.999849 -0.0124353 -0.0121102
[Ros_parameter]: r3live_vio/Camera extrinsic T:   0.0385914 0.000396904   -0.028381
Thread_id [140613616023296] set CPU-1 affinity success.
Thread_id [140597538277120] set CPU-2 affinity success.
Thread_id [140597521491712] set CPU-5 affinity success.
Thread_id [140613624416000] set CPU-4 affinity success.
Thread_id [140613632808704] set CPU-0 affinity success.
Thread_id [140597529884416] set CPU-3 affinity success.
[ INFO] [1669445456.704610243]: IMU Initializing: 5.0 %
[ WARN] [1669445456.705452658]: Reset ImuProcess
[ INFO] [1669445456.705488650]: IMU Initials: Gravity: 0.0000 0.0000 9.8050; state.bias_g: 0.0037 -0.0024 0.0003; acc covarience: 0.10000000 0.10000000 0.10000000; gry covarience: 0.10000000 0.10000000 0.10000000
not ready for odometry

======================= R3LIVE Dashboard ======================
| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    8        |    0         | 25580        |    277          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    8        |    25        | 30315        |    287          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    8        |    26        | 30315        |    288          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    9        |    28        | 30315        |    290          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    9        |    28        | 35100        |    290          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    9        |    29        | 35100        |    290          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    10       |    31        | 35100        |    295          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    10       |    31        | 39677        |    296          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:56  |    10       |    32        | 39677        |    298          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:57  |    11       |    34        | 39677        |    304          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:57  |    11       |    34        | 44391        |    304          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:57  |    11       |    35        | 44391        |    306          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
|   14:50:57  |    12       |    37        | 44391        |    307          ****| System-time | LiDAR-frame | Camera-frame |  Pts in maps | Memory used (Mb) |
stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

komorebi0315 commented 1 year ago

你好，请问问题解决了吗？我也遇到了这个问题

Orwlit commented 1 year ago

你好，请问问题解决了吗？我也遇到了这个问题

解决了，是我的粗心大意导致了这个问题，lidar-cam的变换矩阵我填反了，需要求逆。 我用的是官方的lidar-cam标定：https://github.com/hku-mars/livox_camera_calib r3live中需要把标定好的结果求逆。

YangZhouDL commented 5 months ago

你好，请问问题解决了吗？我也遇到了这个问题

解决了，是我的粗心大意导致了这个问题，lidar-cam的变换矩阵我填反了，需要求逆。 我用的是官方的lidar-cam标定：https://github.com/hku-mars/livox_camera_calib r3live中需要把标定好的结果求逆。

你好，请问lidar-cam的变换矩阵，是lidar到camera的变换还是camera到lidar的变换呢

Orwlit commented 5 months ago

你好，请问问题解决了吗？我也遇到了这个问题

解决了，是我的粗心大意导致了这个问题，lidar-cam的变换矩阵我填反了，需要求逆。 我用的是官方的lidar-cam标定：https://github.com/hku-mars/livox_camera_calib r3live中需要把标定好的结果求逆。

你好，请问lidar-cam的变换矩阵，是lidar到camera的变换还是camera到lidar的变换呢

我也记不清了，你要不都试试呗