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rviz中点云无法显示

Open Huashuijingying opened this issue 7 months ago • 9 comments

运行roslaunch fast_livo mapping_avia.launch并播放FAST-LIVO2-Dataset，点云地图无法正常显示，只能看到轨迹和相机，请问应该如何解决？

Image

Huashuijingying avatar May 13 '25 03:05 Huashuijingying 

zxy@ubuntu:~/catkin_ws$ roslaunch fast_livo mapping_avia.launch 
... logging to /home/zxy/.ros/log/a51ad1a0-2fac-11f0-bbc6-6b571b600683/roslaunch-ubuntu-7347.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://ubuntu:37989/

SUMMARY
========

PARAMETERS
 * /Pcl: [0.0194384, 0.104...
 * /Rcl: [0.00610193, -0.9...
 * /common/img_en: 1
 * /common/img_topic: /left_camera/image
 * /common/imu_topic: /livox/imu
 * /common/lid_topic: /livox/lidar
 * /common/lidar_en: 1
 * /common/ros_driver_bug_fix: False
 * /evo/pose_output_en: False
 * /evo/seq_name: CBD_Building_01
 * /extrin_calib/extrinsic_R: [1, 0, 0, 0, 1, 0...
 * /extrin_calib/extrinsic_T: [0.04165, 0.02326...
 * /imu/acc_cov: 0.5
 * /imu/b_acc_cov: 0.0001
 * /imu/b_gyr_cov: 0.0001
 * /imu/gyr_cov: 0.3
 * /imu/imu_en: True
 * /imu/imu_int_frame: 30
 * /laserMapping/cam_cx: 626.91359
 * /laserMapping/cam_cy: 522.799224
 * /laserMapping/cam_d0: -0.07616
 * /laserMapping/cam_d1: 0.123001
 * /laserMapping/cam_d2: -0.00113
 * /laserMapping/cam_d3: 0.000251
 * /laserMapping/cam_fx: 1293.56944
 * /laserMapping/cam_fy: 1293.3155
 * /laserMapping/cam_height: 1024
 * /laserMapping/cam_model: Pinhole
 * /laserMapping/cam_width: 1280
 * /laserMapping/scale: 0.5
 * /lio/beam_err: 0.05
 * /lio/dept_err: 0.02
 * /lio/layer_init_num: [5, 5, 5, 5, 5]
 * /lio/max_iterations: 5
 * /lio/max_layer: 2
 * /lio/max_points_num: 50
 * /lio/min_eigen_value: 0.0025
 * /lio/voxel_size: 0.5
 * /local_map/half_map_size: 100
 * /local_map/map_sliding_en: False
 * /local_map/sliding_thresh: 8
 * /pcd_save/colmap_output_en: False
 * /pcd_save/filter_size_pcd: 0.15
 * /pcd_save/interval: -1
 * /pcd_save/pcd_save_en: False
 * /preprocess/blind: 0.8
 * /preprocess/filter_size_surf: 0.1
 * /preprocess/lidar_type: 1
 * /preprocess/point_filter_num: 1
 * /preprocess/scan_line: 6
 * /publish/blind_rgb_points: 0.0
 * /publish/dense_map_en: True
 * /publish/pub_effect_point_en: False
 * /publish/pub_plane_en: False
 * /publish/pub_scan_num: 1
 * /rosdistro: noetic
 * /rosversion: 1.17.2
 * /time_offset/exposure_time_init: 0.0
 * /time_offset/img_time_offset: 0.1
 * /time_offset/imu_time_offset: 0.0
 * /uav/gravity_align_en: False
 * /uav/imu_rate_odom: False
 * /vio/exposure_estimate_en: True
 * /vio/img_point_cov: 100
 * /vio/inv_expo_cov: 0.1
 * /vio/inverse_composition_en: False
 * /vio/max_iterations: 5
 * /vio/normal_en: True
 * /vio/outlier_threshold: 1000
 * /vio/patch_pyrimid_level: 4
 * /vio/patch_size: 8
 * /vio/raycast_en: False

NODES
  /
    laserMapping (fast_livo/fastlivo_mapping)
    republish (image_transport/republish)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[laserMapping-1]: started with pid [7361]
process[rviz-2]: started with pid [7362]
process[republish-3]: started with pid [7363]
[INFO] [1747108695.964118917]: Found parameter: laserMapping/cam_model, value: Pinhole
[INFO] [1747108695.964770818]: Found parameter: laserMapping/cam_width, value: 1280
[INFO] [1747108695.965182506]: Found parameter: laserMapping/cam_height, value: 1024
[INFO] [1747108695.965609291]: Found parameter: laserMapping/scale, value: 0.5
[INFO] [1747108695.965809291]: Found parameter: laserMapping/cam_fx, value: 1293.57
[INFO] [1747108695.966179205]: Found parameter: laserMapping/cam_fy, value: 1293.32
[INFO] [1747108695.966579003]: Found parameter: laserMapping/cam_cx, value: 626.914
[INFO] [1747108695.966904450]: Found parameter: laserMapping/cam_cy, value: 522.799
[INFO] [1747108695.967235397]: Found parameter: laserMapping/cam_d0, value: -0.07616
[INFO] [1747108695.967426591]: Found parameter: laserMapping/cam_d1, value: 0.123001
[INFO] [1747108695.967691925]: Found parameter: laserMapping/cam_d2, value: -0.00113
[INFO] [1747108695.967883505]: Found parameter: laserMapping/cam_d3, value: 0.000251
scale: 0.5
intrinsic: 646.784720, 646.657750, 313.456795, 261.399612
width: 640, height: 512, scale: 0.500000
[INFO] [1747108696.294761538]: Get LiDAR, its header time: 946685451.399485
[ Preprocess ] Input point number: 24000 
[ Preprocess ] Output point number: 20638 
[INFO] [1747108696.300022205]: Get image, its header time: 946685451.499485
[INFO] [1747108696.392456370]: Get LiDAR, its header time: 946685451.499322
[ Preprocess ] Input point number: 24000 
[ Preprocess ] Output point number: 20549 
FIRST LIDAR FRAME!
[INFO] [1747108696.394186644]: IMU Initializing: 3.3 %
[WARN] [1747108696.394218283]: Reset ImuProcess
[ LIO ]: No point!!!
[INFO] [1747108696.398774655]: Get image, its header time: 946685451.599322
[INFO] [1747108696.486836110]: Get LiDAR, its header time: 946685451.599966
[ Preprocess ] Input point number: 24000 
[ Preprocess ] Output point number: 20525 
[ VIO ] No point!!!
[INFO] [1747108696.487476561]: IMU Initializing: 53.3 %
[INFO] [1747108696.487516071]: IMU Initials: Gravity: -1.9751 0.2707 -9.6053 0.9812; acc covarience: 0.50000000 0.50000000 0.50000000; gry covarience: 0.30000000 0.30000000 0.30000000 

[INFO] [1747108696.487535686]: IMU Initials: ba covarience: 0.00010000 0.00010000 0.00010000; bg covarience: 0.00010000 0.00010000 0.00010000
[ LIO ]: No point!!!
[ VIO ] No point!!!
[INFO] [1747108696.494536007]: Get image, its header time: 946685451.699966
[INFO] [1747108696.599300299]: Get image, its header time: 946685451.799793
[INFO] [1747108696.601551797]: Get LiDAR, its header time: 946685451.699793
[ Preprocess ] Input point number: 24000 
[ Preprocess ] Output point number: 20779 
[ LIO ] Raw feature num: 20567, downsampled feature num:10605 effective feature num: 9034 average residual: 0.0141334
[ LIO ] Raw feature num: 20567, downsampled feature num:10605 effective feature num: 9036 average residual: 0.0141188
[ LIO ] Raw feature num: 20567, downsampled feature num:10605 effective feature num: 9036 average residual: 0.0141426
[ LIO ] Raw feature num: 20567, downsampled feature num:10605 effective feature num: 9038 average residual: 0.0141534
[ LIO ] Raw feature num: 20567, downsampled feature num:10605 effective feature num: 9038 average residual: 0.0141706
[ LIO ] Update Voxel Map
+-------------------------------------------------------------+
|                         LIO Mapping Time                    |
+-------------------------------------------------------------+
| Algorithm Stage               | Time (secs)                 |
+-------------------------------------------------------------+
| DownSample                    | 0.001096                    |
| ICP                           | 0.031383                    |
| updateVoxelMap                | 0.005922                    |
+-------------------------------------------------------------+
| Current Total Time            | 0.045346                    |
| Average Total Time            | 0.045346                    |
+-------------------------------------------------------------+
[INFO] [1747108696.694270553]: Get LiDAR, its header time: 946685451.799631
[ Preprocess ] Input point number: 24000 
[ Preprocess ] Output point number: 20821 
[ VIO ] Raw feature num: 20567
[ VIO ] Append 0 new visual map points
+-------------------------------------------------------------+
|                         VIO Time                            |
+-------------------------------------------------------------+
| Sparse Map Size               | 1234                        |
+-------------------------------------------------------------+
| Algorithm Stage               | Time (secs)                 |
+-------------------------------------------------------------+
| retrieveFromVisualSparseMap   | 0.000001                    |
| computeJacobianAndUpdateEKF   | 0.000001                    |
| -> computeJacobian            | 0.000000                    |
| -> updateEKF                  | 0.000000                    |
| generateVisualMapPoints       | 0.000381                    |
| updateVisualMapPoints         | 0.000001                    |
| updateReferencePatch          | 0.000001                    |
+-------------------------------------------------------------+
| Current Total Time            | 0.000385                    |
| Average Total Time            | 0.000385                    |
+-------------------------------------------------------------+
[ LIO ] Raw feature num: 20776, downsampled feature num:10723 effective feature num: 8842 average residual: 0.0349627
[ LIO ] Raw feature num: 20776, downsampled feature num:10723 effective feature num: 8938 average residual: 0.0222045
[ LIO ] Raw feature num: 20776, downsampled feature num:10723 effective feature num: 8935 average residual: 0.0220713
[ LIO ] Raw feature num: 20776, downsampled feature num:10723 effective feature num: 8936 average residual: 0.0220945
[ LIO ] Raw feature num: 20776, downsampled feature num:10723 effective feature num: 8936 average residual: 0.0220979
[ LIO ] Update Voxel Map

Huashuijingying avatar May 13 '25 03:05 Huashuijingying

运行roslaunch fast_livo mapping_avia.launch并播放FAST-LIVO2-Dataset，点云地图无法正常显示，只能看到轨迹和相机，请问应该如何解决？

Image

我也遇到了一样的问题，请问你是在播放rosbag的时候遇到的吗？

fff-zx avatar May 17 '25 02:05 fff-zx

你是虚拟机吗，我是Vmware Ubuntu 20.04 虚拟机，也是只有轨迹和黑白（灰度）的点云，没有赋色。

FelixCooper1026 avatar May 29 '25 06:05 FelixCooper1026

运行roslaunch fast_livo mapping_avia.launch并播放FAST-LIVO2-Dataset，点云地图无法正常显示，只能看到轨迹和相机，请问应该如何解决？ Image

我也遇到了一样的问题，请问你是在播放rosbag的时候遇到的吗？

是的

Huashuijingying avatar May 29 '25 06:05 Huashuijingying

你是虚拟机吗，我是Vmware Ubuntu 20.04 虚拟机，也是只有轨迹和黑白（灰度）的点云，没有赋色。

Vmware Ubuntu 20.04的虚拟机和jetsonNX都遇到这个问题

Huashuijingying avatar May 29 '25 06:05 Huashuijingying

你是虚拟机吗，我是Vmware Ubuntu 20.04 虚拟机，也是只有轨迹和黑白（灰度）的点云，没有赋色。

Vmware Ubuntu 20.04的虚拟机和jetsonNX都遇到这个问题

刚仔细看了一下，是config里面avia.yaml里img_en参数被改成0了（纯激光模式），我是从网上找的教程，这个参数给改了，改回1再运行就好了。

FelixCooper1026 avatar May 29 '25 09:05 FelixCooper1026

运行roslaunch fast_livo mapping_avia.launch并播放FAST-LIVO2-Dataset，点云地图无法正常显示，只能看到轨迹和相机，请问应该如何解决？ Image

我也遇到了一样的问题，请问你是在播放rosbag的时候遇到的吗？

我也遇到相同的问题，请问解决了吗

ovoayu avatar Jun 27 '25 11:06 ovoayu

目前找到的解决方案有2个（二选一）： 1、虚拟机设置——显示——加速3D图形。把这个选项取消勾选，即取消加速； 2、在ubuntu系统中，打开终端，设置使用软件计算。命令：export LIBGL_ALWAYS_SOFTWARE=1

根本原因我不清楚，按照搜索的结果，可能是 VMware 的 3D 加速驱动和 Ubuntu 20.04 的 Mesa 驱动之间的兼容性有关。

如果需要硬件计算的话，可能只有安装到物理机上才能解决。 如果有更好的解决方案，欢迎@我。

CavaPhPy avatar Aug 03 '25 07:08 CavaPhPy

目前找到的解决方案有2个（二选一）： 1、虚拟机设置——显示——加速3D图形。把这个选项取消勾选，即取消加速； 2、在ubuntu系统中，打开终端，设置使用软件计算。命令：export LIBGL_ALWAYS_SOFTWARE=1

根本原因我不清楚，按照搜索的结果，可能是 VMware 的 3D 加速驱动和 Ubuntu 20.04 的 Mesa 驱动之间的兼容性有关。

如果需要硬件计算的话，可能只有安装到物理机上才能解决。 如果有更好的解决方案，欢迎@我。

VMware 关闭加速3D驱动, 亲测有效

Willarb avatar Aug 05 '25 02:08 Willarb