koide3
commented
8 months ago I'm not very sure, but I suspect the error is caused by the mismatch of the intensity channel name. Could you check if the points messages contain a field named "Intensity" with the following command?
rostopic echo /point_cloud/fieldsIf you could share the bag file, it would be a help to dig into the problem.
Hello, dear author, thank you very much for providing the joint calibration tool. I have a question that I need to ask you, as follows.
Describe the bug I generated a bag package myself using images and corresponding PCD files. The bag package information is as follows：
My bag was recorded based on ROS1 noetic, only the point cloud information after image information and time synchronization, without the topic of camera information.
Then I preprocessed the bag according to the following command, my execution command is: docker run \ -it \ --rm \ --net host \ --gpus all \ -e DISPLAY=$DISPLAY \ -v $HOME/.Xauthority:/root/.Xauthority \ -v $HOME/docker_data/calib/rosbags:/tmp/input_bags \ -v $HOME/docker_data/calib/preprocessed:/tmp/preprocessed \ c63bb69268f6 \ rosrun direct_visual_lidar_calibration preprocess -av \ --camera_model plumb_bob \ --camera_intrinsic 1.32458347e+03,1.32416579e+03,9.67911817e+02,5.55211274e+02 \ --camera_distortion_coeffs 6.04448759e-02,-2.73708217e-01,2.77775926e-04,-1.25173468e-03,2.90979020e-01 \ /tmp/input_bags/my_bag_1 /tmp/preprocessed/my_bag
but the following situation occurred as shown in the figure below. The GUI program experienced a crash. The program did not process my bag and ran as a result. I don't know what caused this?
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