lidar_camera_calibration
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Failed to find match for field 'intensity'.
Heay,
running into an issue with an Hesai Lidar with 40 beams. The Aruco Mapping with the Mono8 window opens and is working properly. But i cant get the other windows to open.
I get an error: Failed to find match for field 'intensity'.
and shortly after the process dies.
[ INFO] [1575924360.049107156]: Calibration file path: here/is/my/correct/path
[ INFO] [1575924360.049167227]: Number of markers: 2
[ INFO] [1575924360.049192328]: Marker Size: 0.2
[ INFO] [1575924360.049204712]: Type of space: plane
[ INFO] [1575924360.049221238]: ROI allowed: 0
[ INFO] [1575924360.049234109]: ROI x-coor: 1769166196
[ INFO] [1575924360.049245793]: ROI y-coor: 1769166196
[ INFO] [1575924360.049263134]: ROI width: 1633904996
[ INFO] [1575924360.049277923]: ROI height: 1415865716
[ INFO] [1575924360.054787663]: Calibration data loaded successfully
Size of the frame: 1600 x 1200
Limits: -2.5 to 2.5
Limits: -4 to 4
Limits: 0 to 1.7
Number of markers: 2
Intensity threshold (between 0.0 and 1.0): 0
useCameraInfo: 0
Projection matrix:
[1272.4871, 0, 789.27271, 0;
0, 1265.7666, 584.11261, 0;
0, 0, 1, 0]
MAX_ITERS: 100
Lidar_type: Hesai
initial rotation: 1.57 -1.57 0
initial translation: 0 0 0
[ INFO] [1575924360.063375333]: Reading CameraInfo from configuration file
30=(405.588,591.101) (471.704,535.536) (528.049,598.456) (463.571,653.31) Txyz=-0.774049 0.0172452 2.97846 Rxyz=-1.40402 -0.927983 0.413323
178=(1193.01,456.181) (1260.05,408.106) (1309.59,472.103) (1241.32,519.024) Txyz=1.12448 -0.308032 3.12825 Rxyz=-1.05202 -0.50262 0.817332
[ INFO] [1575924360.572123152, 1575910507.309239132]: First marker with ID: 30 detected
[ WARN] [1575924360.706856006, 1575910507.452158267]: TF to MSG: Quaternion Not Properly Normalized
[ INFO] [1575924360.707187009, 1575910507.452158267]: Velodyne scan received at 1.57591e+09
[ INFO] [1575924360.707256219, 1575910507.452158267]: marker_6dof received at 1.57591e+09
**Failed to find match for field 'intensity'.**
Initial Rot 0.000796274 -0.999999 -0.000796274
0 0.000796274 -1
1 0.000796274 6.34053e-07
30=(405.566,591.087) (471.696,535.563) (528.014,598.482) (463.566,653.288) Txyz=-0.774198 0.0172613 2.97885 Rxyz=-1.40202 -0.927273 0.414251
178=(1192.99,456.103) (1260.01,408.145) (1309.69,472.122) (1241.21,518.977) Txyz=1.12329 -0.307737 3.12508 Rxyz=-1.04242 -0.501171 0.8152
30=(405.595,591.139) (471.659,535.549) (528.023,598.456) (463.538,653.271) Txyz=-0.77428 0.0172601 2.97912 Rxyz=-1.40251 -0.928486 0.412504
178=(1193.03,456.173) (1260,408.123) (1309.62,472.119) (1241.23,519.051) Txyz=1.1243 -0.307969 3.12791 Rxyz=-1.0519 -0.501758 0.818801
[find_transform-2] process has died [pid 6079, exit code -11, cmd /some/path/find_transform-2.log].
log file: /some/path/find_transform-2*.log
30=(405.57,591.036) (471.672,535.57) (528.009,598.49) (463.497,653.373) Txyz=-0.774398 0.0172772 2.97939 Rxyz=-1.40721 -0.925491 0.416767
178=(1192.95,456.101) (1260.04,408.204) (1309.69,472.204) (1241.25,518.983) Txyz=1.12271 -0.307474 3.12348 Rxyz=-1.03631 -0.499667 0.814335
30=(405.576,591.09) (471.649,535.562) (528.023,598.478) (463.586,653.298) Txyz=-0.774291 0.0172652 2.97915 Rxyz=-1.40217 -0.924592 0.416434
178=(1192.93,456.216) (1259.98,408.112) (1309.64,472.109) (1241.22,518.962) Txyz=1.12306 -0.307655 3.12464 Rxyz=-1.04367 -0.504198 0.810837
30=(405.577,591.126) (471.661,535.546) (528.003,598.451) (463.586,653.281) Txyz=-0.774329 0.0172513 2.97933 Rxyz=-1.40325 -0.927179 0.413571
178=(1192.9,456.233) (1260,408.138) (1309.65,472.138) (1241.25,518.995) Txyz=1.12273 -0.30749 3.12368 Rxyz=-1.04239 -0.504164 0.810126
30=(405.546,591.139) (471.695,535.558) (528.032,598.452) (463.534,653.27) Txyz=-0.773879 0.0172638 2.97759 Rxyz=-1.40008 -0.930954 0.410213
178=(1192.87,456.192) (1260.05,408.117) (1309.62,472.162) (1241.34,518.901) Txyz=1.12261 -0.307518 3.12325 Rxyz=-1.0368 -0.502719 0.809209
30=(405.565,591.105) (471.682,535.558) (527.992,598.486) (463.5,653.299) Txyz=-0.774313 0.0172756 2.97908 Rxyz=-1.40386 -0.928947 0.412876
178=(1192.96,456.169) (1260.02,408.152) (1309.67,472.134) (1241.32,518.946) Txyz=1.12315 -0.307647 3.12462 Rxyz=-1.03915 -0.500882 0.812648
30=(405.511,591.131) (471.669,535.558) (528.021,598.487) (463.554,653.228) Txyz=-0.773808 0.0172612 2.97715 Rxyz=-1.39592 -0.928849 0.412199
178=(1192.87,456.168) (1260.08,408.163) (1309.56,472.127) (1241.28,519.05) Txyz=1.12327 -0.30765 3.12519 Rxyz=-1.04782 -0.506199 0.811384