lidar_camera_calibration
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ankitdhall
[find_transform-2] process has died
The prcess get killed regurarly! I have the problem that the find_transform process got killed, not always, but most of the times! aproximately 9 times out of 10 times of runing the launch file, the process got killed. What is going worng here? Here I attach the output from running the launch file:
pedram@WS-4022-NPC:~$ roslaunch lidar_camera_calibration find_transform.launch ... logging to /home/pedram/.ros/log/75cc0b6e-2d4a-11e9-8464-90b11c970001/roslaunch-WS-4022-NPC-31673.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://WS-4022-NPC:44503/
SUMMARY
PARAMETERS
- /aruco_mapping/calibration_file: /home/pedram/catk...
- /aruco_mapping/marker_size: 0.212
- /aruco_mapping/num_of_markers: 2
- /aruco_mapping/roi_allowed: False
- /aruco_mapping/space_type: plane
- /lidar_camera_calibration/camera_frame_topic: /image_raw_sync
- /lidar_camera_calibration/camera_info_topic: /camera_info_sync
- /lidar_camera_calibration/velodyne_topic: /rslidar_points_sync
- /rosdistro: kinetic
- /rosversion: 1.12.14
NODES / aruco_mapping (aruco_mapping/aruco_mapping) find_transform (lidar_camera_calibration/find_transform)
ROS_MASTER_URI=http://localhost:11311
process[aruco_mapping-1]: started with pid [31696] process[find_transform-2]: started with pid [31697] [ INFO] [1549820982.143502743]: Calibration file path: /home/pedram/catkin-ws/src/aruco_mapping/data/zed_left_uurmi.ini [ INFO] [1549820982.143570207]: Number of markers: 2 [ INFO] [1549820982.143607660]: Marker Size: 0.212 [ INFO] [1549820982.143631209]: Type of space: plane [ INFO] [1549820982.143656830]: ROI allowed: 0 [ INFO] [1549820982.143675896]: ROI x-coor: 32767 [ INFO] [1549820982.143695376]: ROI y-coor: 32767 [ INFO] [1549820982.143714975]: ROI width: 0 [ INFO] [1549820982.143733998]: ROI height: 4280747 [ INFO] [1549820982.145394225]: Calibration data loaded successfully Size of the frame: 800 x 450 Limits: -6 to 6 Limits: -7 to 7 Limits: -2 to 2 Number of markers: 2 Intensity threshold (between 0.0 and 1.0): 0.05 useCameraInfo: 1 Projection matrix: [1421.1016, 0, 389.20328, 0; 0, 1423.6897, 222.87619, 0; 0, 0, 1, 0] MAX_ITERS: 20 [ INFO] [1549820982.156012321]: Reading CameraInfo from topic done1 26=(218.184,240.842) (149.744,304.732) (83.1856,236.119) (151.451,170.895) Txyz=-0.527223 0.0342224 3.12697 Rxyz=-0.661288 1.82979 -1.57776 582=(582.888,258.202) (509.872,319.664) (446.398,248.201) (518.841,185.685) Txyz=0.274132 0.0663473 3.10322 Rxyz=-0.817062 1.93256 -1.51535 [ INFO] [1549820982.551370550]: First marker with ID: 26 detected [ WARN] [1549820982.554996500]: TF to MSG: Quaternion Not Properly Normalized 26=(218.139,240.921) (149.724,304.714) (83.1935,236.204) (151.503,170.897) Txyz=-0.527472 0.0343165 3.12845 Rxyz=-0.660293 1.82778 -1.579 582=(582.908,258.234) (509.838,319.67) (446.463,248.229) (518.822,185.687) Txyz=0.274221 0.0663967 3.10406 Rxyz=-0.818842 1.93217 -1.51661 26=(218.174,240.854) (149.78,304.654) (83.1606,236.131) (151.512,170.936) Txyz=-0.527373 0.0342395 3.12815 Rxyz=-0.656092 1.82903 -1.57443 582=(582.913,258.23) (509.873,319.64) (446.452,248.192) (518.835,185.679) Txyz=0.274194 0.0663483 3.10355 Rxyz=-0.819217 1.93401 -1.51476 [ INFO] [1549820982.638262530]: Camera info received at 1.54982e+09 [ INFO] [1549820982.638318152]: Velodyne scan received at 1.54982e+09 [ INFO] [1549820982.638360950]: marker_6dof received at 1.54982e+09 Failed to find match for field 'ring'. terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc 26=(218.177,240.885) (149.759,304.682) (83.1672,236.08) (151.511,170.907) Txyz=-0.5272 0.0342142 3.12702 Rxyz=-0.659449 1.83041 -1.57454 582=(582.904,258.189) (509.867,319.668) (446.435,248.169) (518.856,185.672) Txyz=0.27421 0.0663223 3.10373 Rxyz=-0.818441 1.93161 -1.51686 26=(218.154,240.888) (149.719,304.737) (83.1741,236.196) (151.483,170.897) Txyz=-0.527403 0.0342998 3.12796 Rxyz=-0.659904 1.82741 -1.57949 582=(582.93,258.242) (509.855,319.656) (446.422,248.218) (518.835,185.678) Txyz=0.274097 0.0663602 3.10259 Rxyz=-0.817618 1.9339 -1.514 26=(218.163,240.87) (149.748,304.691) (83.1667,236.132) (151.493,170.889) Txyz=-0.527303 0.034228 3.1275 Rxyz=-0.659358 1.82906 -1.57675 582=(582.935,258.211) (509.867,319.645) (446.433,248.222) (518.836,185.692) Txyz=0.274144 0.0663556 3.10291 Rxyz=-0.816492 1.93368 -1.51392 26=(218.176,240.829) (149.785,304.657) (83.1841,236.115) (151.465,170.856) Txyz=-0.527223 0.0341576 3.12713 Rxyz=-0.660016 1.83057 -1.57604 582=(582.911,258.184) (509.912,319.685) (446.452,248.192) (518.829,185.684) Txyz=0.27424 0.06635 3.10387 Rxyz=-0.819866 1.93269 -1.51715 26=(218.201,240.882) (149.729,304.691) (83.1972,236.153) (151.475,170.897) Txyz=-0.527268 0.0342509 3.12739 Rxyz=-0.659362 1.82942 -1.57638 582=(582.881,258.25) (509.845,319.643) (446.454,248.19) (518.846,185.669) Txyz=0.27423 0.0663636 3.10423 Rxyz=-0.819734 1.93256 -1.51618 26=(218.157,240.885) (149.762,304.698) (83.2254,236.167) (151.521,170.897) Txyz=-0.527455 0.0342702 3.1287 Rxyz=-0.660567 1.82816 -1.57888 582=(582.94,258.192) (509.896,319.665) (446.44,248.179) (518.848,185.692) Txyz=0.274177 0.0663304 3.10301 Rxyz=-0.818164 1.9336 -1.51487 [find_transform-2] process has died [pid 31697, exit code -6, cmd /home/pedram/catkin-ws/devel/lib/lidar_camera_calibration/find_transform __name:=find_transform __log:=/home/pedram/.ros/log/75cc0b6e-2d4a-11e9-8464-90b11c970001/find_transform-2.log]. log file: /home/pedram/.ros/log/75cc0b6e-2d4a-11e9-8464-90b11c970001/find_transform-2*.log 26=(218.164,240.869) (149.788,304.653) (83.1232,236.1) (151.515,170.884) Txyz=-0.527165 0.0341891 3.12677 Rxyz=-0.657344 1.8302 -1.57363 582=(582.921,258.195) (509.888,319.656) (446.44,248.179) (518.841,185.698) Txyz=0.274192 0.0663387 3.10339 Rxyz=-0.818284 1.93363 -1.51486 26=(218.114,240.916) (149.734,304.704) (83.1475,236.172) (151.501,170.884) Txyz=-0.527406 0.0342805 3.12786 Rxyz=-0.659931 1.82844 -1.57778 582=(582.97,258.236) (509.853,319.63) (446.449,248.208) (518.832,185.695) Txyz=0.274105 0.0663468 3.10232 Rxyz=-0.81708 1.93541 -1.51207
===============================================================================
It continuous to detect the markers but the main process for finding the transform got killed. I have issues in seeing the marker edges, so for debugging that I need to run this multiple times. Here is the output from one time that the process is not killed:
pedram@WS-4022-NPC:~$ roslaunch lidar_camera_calibration find_transform.launch ... logging to /home/pedram/.ros/log/75cc0b6e-2d4a-11e9-8464-90b11c970001/roslaunch-WS-4022-NPC-355.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://WS-4022-NPC:45411/
SUMMARY
PARAMETERS
- /aruco_mapping/calibration_file: /home/pedram/catk...
- /aruco_mapping/marker_size: 0.212
- /aruco_mapping/num_of_markers: 2
- /aruco_mapping/roi_allowed: False
- /aruco_mapping/space_type: plane
- /lidar_camera_calibration/camera_frame_topic: /image_raw_sync
- /lidar_camera_calibration/camera_info_topic: /camera_info_sync
- /lidar_camera_calibration/velodyne_topic: /rslidar_points_sync
- /rosdistro: kinetic
- /rosversion: 1.12.14
NODES / aruco_mapping (aruco_mapping/aruco_mapping) find_transform (lidar_camera_calibration/find_transform)
ROS_MASTER_URI=http://localhost:11311
process[aruco_mapping-1]: started with pid [380] process[find_transform-2]: started with pid [381] Size of the frame: 800 x 450 Limits: -6 to 6 Limits: -7 to 7 Limits: -2 to 2 Number of markers: 2 Intensity threshold (between 0.0 and 1.0): 0.05 useCameraInfo: 1 Projection matrix: [1421.1016, 0, 389.20328, 0; 0, 1423.6897, 222.87619, 0; 0, 0, 1, 0] MAX_ITERS: 20 [ INFO] [1549821294.045563009]: Calibration file path: /home/pedram/catkin-ws/src/aruco_mapping/data/zed_left_uurmi.ini [ INFO] [1549821294.045647404]: Number of markers: 2 [ INFO] [1549821294.045687132]: Marker Size: 0.212 [ INFO] [1549821294.045712910]: Type of space: plane [ INFO] [1549821294.045741822]: ROI allowed: 0 [ INFO] [1549821294.045767000]: ROI x-coor: 0 [ INFO] [1549821294.045781092]: ROI y-coor: 0 [ INFO] [1549821294.045793232]: ROI width: 0 [ INFO] [1549821294.045805921]: ROI height: 1286750177 [ INFO] [1549821294.049139371]: Calibration data loaded successfully [ INFO] [1549821294.049584081]: Reading CameraInfo from topic done1 26=(218.24,240.819) (149.795,304.684) (83.1448,236.153) (151.472,170.909) Txyz=-0.527075 0.034218 3.12646 Rxyz=-0.655608 1.82958 -1.57424 582=(582.904,258.189) (509.914,319.629) (446.438,248.204) (518.851,185.665) Txyz=0.274226 0.0663204 3.10364 Rxyz=-0.817514 1.93317 -1.51524 [ INFO] [1549821294.427500625]: First marker with ID: 26 detected [ WARN] [1549821294.430346935]: TF to MSG: Quaternion Not Properly Normalized [ INFO] [1549821294.537706998]: Camera info received at 1.54982e+09 [ INFO] [1549821294.537796679]: Velodyne scan received at 1.54982e+09 [ INFO] [1549821294.537840942]: marker_6dof received at 1.54982e+09 Failed to find match for field 'ring'. 26 -0.527075 0.034218 3.12646 -0.655608 1.82958 -1.57424 582 0.274226 0.0663204 3.10364 -0.817514 1.93317 -1.51524 [ INFO] [1549821294.542475592]: iteration number: 0
26=(218.177,240.858) (149.765,304.675) (83.1836,236.036) (151.55,170.916) Txyz=-0.527284 0.0341803 3.12773 Rxyz=-0.659308 1.82941 -1.57532 582=(582.876,258.212) (509.914,319.629) (446.445,248.212) (518.869,185.663) Txyz=0.274282 0.0663469 3.10429 Rxyz=-0.817949 1.93232 -1.51615 26=(218.192,240.872) (149.754,304.686) (83.1591,236.208) (151.502,170.927) Txyz=-0.527373 0.0342987 3.12811 Rxyz=-0.655462 1.82744 -1.5763 582=(582.918,258.226) (509.873,319.64) (446.475,248.219) (518.844,185.668) Txyz=0.274259 0.0663611 3.10401 Rxyz=-0.81873 1.93277 -1.51597 26=(218.231,240.808) (149.77,304.726) (83.2047,236.19) (151.486,170.898) Txyz=-0.527283 0.0342477 3.12782 Rxyz=-0.657934 1.82702 -1.57938 582=(582.94,258.207) (509.855,319.655) (446.494,248.235) (518.836,185.671) Txyz=0.27428 0.0663695 3.10413 Rxyz=-0.81814 1.93174 -1.51692 26=(218.203,240.833) (149.761,304.679) (83.2324,236.094) (151.5,170.887) Txyz=-0.5273 0.0341804 3.12787 Rxyz=-0.660634 1.82938 -1.57739 582=(582.952,258.197) (509.873,319.64) (446.459,248.2) (518.851,185.679) Txyz=0.274197 0.066328 3.10313 Rxyz=-0.817106 1.93329 -1.51456 26=(218.181,240.863) (149.747,304.711) (83.2481,236.136) (151.49,170.853) Txyz=-0.527309 0.0342098 3.12779 Rxyz=-0.663309 1.82912 -1.57988 582=(582.975,258.232) (509.83,319.649) (446.488,248.174) (518.843,185.686) Txyz=0.27419 0.0663394 3.1031 Rxyz=-0.81912 1.93392 -1.51436 26=(218.186,240.869) (149.775,304.703) (83.2026,236.198) (151.489,170.879) Txyz=-0.527294 0.0342637 3.12771 Rxyz=-0.659604 1.82867 -1.5782 582=(582.97,258.236) (509.859,319.624) (446.459,248.2) (518.832,185.695) Txyz=0.274126 0.0663424 3.10248 Rxyz=-0.81763 1.93568 -1.51206 26=(218.16,240.865) (149.779,304.699) (83.2029,236.118) (151.518,170.887) Txyz=-0.527322 0.0342212 3.12788 Rxyz=-0.660943 1.82919 -1.57781 582=(582.965,258.179) (509.903,319.594) (446.41,248.228) (518.828,185.685) Txyz=0.274065 0.0662977 3.10179 Rxyz=-0.814087 1.93602 -1.51064 26=(218.171,240.864) (149.802,304.697) (83.1638,236.131) (151.524,170.892) Txyz=-0.527217 0.0342287 3.12729 Rxyz=-0.658854 1.82925 -1.57633 582=(582.987,258.222) (509.888,319.6) (446.422,248.186) (518.841,185.707) Txyz=0.274039 0.066307 3.10137 Rxyz=-0.815813 1.93757 -1.50916 26=(218.164,240.869) (149.746,304.693) (83.1545,236.12) (151.504,170.873) Txyz=-0.527253 0.0342096 3.1272 Rxyz=-0.659371 1.82883 -1.57688 582=(582.97,258.236) (509.871,319.614) (446.447,248.243) (518.823,185.686) Txyz=0.274102 0.0663525 3.10222 Rxyz=-0.816265 1.93578 -1.51163 26=(218.202,240.834) (149.734,304.704) (83.2438,236.128) (151.507,170.922) Txyz=-0.527466 0.0342381 3.12885 Rxyz=-0.659807 1.82747 -1.57915 582=(582.909,258.185) (509.885,319.653) (446.455,248.196) (518.866,185.661) Txyz=0.27427 0.0663277 3.10405 Rxyz=-0.817735 1.9312 -1.51717 26=(218.226,240.804) (149.8,304.679) (83.1927,236.103) (151.465,170.963) Txyz=-0.527243 0.0342203 3.12754 Rxyz=-0.657071 1.83055 -1.57396 582=(582.904,258.189) (509.89,319.649) (446.414,248.225) (518.851,185.665) Txyz=0.274171 0.0663344 3.10325 Rxyz=-0.816127 1.93213 -1.5156 ---------Moving on to next marker-------- 26=(218.118,240.899) (149.78,304.688) (83.177,236.223) (151.507,170.873) Txyz=-0.527463 0.034289 3.12849 Rxyz=-0.659493 1.8281 -1.57869 582=(582.921,258.252) (509.894,319.676) (446.449,248.24) (518.87,185.675) Txyz=0.274214 0.0663969 3.10334 Rxyz=-0.81818 1.93246 -1.51595 26=(218.174,240.854) (149.756,304.676) (83.2199,236.133) (151.505,170.868) Txyz=-0.527373 0.0342026 3.12817 Rxyz=-0.660616 1.82871 -1.57829 582=(582.946,258.224) (509.871,319.648) (446.473,248.174) (518.845,185.67) Txyz=0.274205 0.0663281 3.10331 Rxyz=-0.819841 1.93393 -1.51504 26=(218.17,240.853) (149.725,304.694) (83.2834,236.124) (151.479,170.869) Txyz=-0.527483 0.0342056 3.12878 Rxyz=-0.664039 1.82899 -1.5805
I also attach a picture from the time that the process is not killed, my next problem is that the edges for the markers are not also visible in the cloud window which is showing the pointclouds.
what does this line mean? "Failed to find match for field 'ring'."
P.S. I am using robosense LiDAR.
what does this line mean? "Failed to find match for field 'ring'."
P.S. I am using robosense LiDAR. The robosense topic /rslidar_points does not indicate which ring an point belongs to (while velodyne does). For a 16 ring robosense lidar which publishes 2016 x 16 points each frame, every 2016 points belong to the same ring. You can manually set this attribute, Like this:
int pt_index = 0;
float ring_index = 0.0;
pcl::PointCloud<myPointXYZRID>::Ptr new_cloud ( new pcl::PointCloud<myPointXYZRID>);
for (pcl::PointCloud<myPointXYZRID>::iterator pt = point_cloud_raw.points.begin(); pt < point_cloud_raw.points.end(); pt++)
{
// 16 rings, from 0 to 15
ring_index = pt_index/2016;
pt->ring = floor(ring_index);
pt_index = pt_index + 1;
// filter NaN points
if (isnan(pt->x) == false)
{
myPointXYZRID PointT;
PointT.x = pt->x;
PointT.y = pt->y;
PointT.z = pt->z;
PointT.intensity = pt->intensity;
PointT.ring = pt->ring;
PointT.range = pt->range;
new_cloud->points.push_back(PointT);
}
}
what does this line mean? "Failed to find match for field 'ring'."
It basically means your LiDAR doesn't publish point cloud with a "ring" field. It shouldn't be a major issue from my experience, I used a kinect to calibrate successfully which don't publish point cloud containing a "ring" field.
