afeichina / extended_lidar_camera_calib

This repo is an extended version of livox_camera_calib(hku-mars/livox_camera_calib), which is suitable for spinning LiDAR。

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• 🔭 机器人行业，学习 LIDAR SLAM,多传感器融合中...
• 🌱 使用C++,Python
• 😄 电子设计爱好者
• 📫 联系邮箱: [email protected]

extended_lidar_camera_calib's Issues

您好，原论文中是静止录制数据，最后选取图像是一定的，如果通过slam移动雷达获取稠密点云后，最后标定的pcd和图像怎么获取，非常感谢您

can you provide a bag file to test?

which launch file should i roslaunch?

i roslanch floam_rslidar32.launch,but i can't found corresponding launch file. i only found calib_indoor_rsbpearl32.launch. is it same that roslaunch this file?

Problem in running code

Hello,

I collected a rosbag with my camera and lidar. I move both sensors with constant relative position to each other for several second to collect data. Then I save rosbag and close sensors.

1. I call floam with this line: roslaunch floam floam_velodyne1.launch
   Before calling it, I modified rosbag path in the launch file.

When Rviz pop up, it show no point on the rviz. However, when I open save map with pcl viewer, it seems ok and proper.

2. For calibration I call roslaunch livox_camera_calib calib_indoor_velodyne16.launch

Before, calling it, I changed my rosbag file path and camera and lidar topic names in these two config files: '/config/camera_velodyne16.yaml' '/config/config_indoor_velodyne16.yaml '
I recieve an Error: process has died.

我在进行第二步是出现问题， process has died

我已经阅读了所有的issue，但是没找到我的问题所在。我的雷达是速腾32线，在录制好相机/Daheng_image和雷达/velodyne_points的rosbag之后，修改floam_rslidar32.launch，成功运行了第一步，但是在显示过程中/map的点云无法显示，得到了一个map_.pcd；
我看issue中有人遇到了同样的问题，但是好像得到的map_.pcd是正确的，我也就没在意。在修改了两个yaml文件后，我运行calib_indoor_velodyne16.launch（也已经修改了bag和map_.pcd的位置）但是直接报错了

Bpearl support

Hi!Thanks for your great work!
I'm using RS-Bpearl as you do.But here is the problem:I launch the floam_rsbpearl32.launch and play my bag.But nothing happened,it seems like the algorithm doesn't get my data.Is anything needed to modify？
Your prompt reply will be appreciate!

速腾32线

你好，我使用速腾32线激光雷达，相机为USB免驱，使用rosbag录制了/points_raw和/usb_cam/image_raw两个主题的包，
修改了floam_rsbpearl32.launch和laserProcessingNode.cpp文件，如图所示

:

执行：roslaunch floam floam_rsbpearl32.launch，如图所示：

请问我错过了什么？谢谢！期待你的回复！

Data collecting

Hi,
Can you explain how to collect data?

I should collect data for both camera and Lidar when moving?
If I need to just take a picture, where to put it? and how can I do it?
Which direction should I move?

Thank you,

record a bag or capture a picture and pointcloud?

After running floam,Do I record a bag(map topic and image topic) or capture a picture and point cloud with the same timestamp?

How can I solve the problem about "LZ4_streamDecode_t"?

Hello! When I run the command of "catkin_make", there is a problem about "LZ4_streamDecode_t". The detailed information is followed.
error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’
edef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t;
^~~~~~~~~~~~~~~~~~