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跑MARS Dataset时无人机一起飞终端就会报红挂掉 #108
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我刚才测了一下感觉没什么太大问题,截图结果如下。另外我一会儿单独为MARS-LVIG dataset创建一个配置文件然后push上去吧,方便大家复现,之后你可以再测试下哈。但最好你能用gdb检查下到底问题出在哪行#53,我比较担心是你的环境配置问题。 |
非常感谢您的回答,很有帮助,我用gdb调试后打印信息如下
然后参考您给的 #53 ,我把lidar_selection.cpp的376行的float it[height * width] = {0.0};改为了std::vector it(height*width, 0); 再重新编译后运行,便可以基于MARS-LVIG dataset跑起来了。 |
相同的地图分辨率,大尺度场景内存涨的会越快,因为每帧的raw points会有特别多的点被用来更新地图。可以试着调低 |
我用FAST-LIVO跑MARS Dataset时无人机一起飞终端就会挂掉,换了好几个序列都是这样,包括AMtown AMvalley HKisland序列,无人机刚开始还在地面上放置时都是可以正常运行一段时间的,无人机一起飞到半空中,终端就会报红挂掉,或则我改为bag包播放到无人机飞到空中时再启动FAST-LIVO,终端基本上立马就报红挂掉,相机内参都已经改为MARS Dataset对应的相机内参了。想知道挂掉的原因是什么,以及该如何解决...
下面是挂掉时的一些终端截图
这是我的avia_resize.yaml的内容
`feature_extract_enable : 0
point_filter_num : 2
max_iteration : 10
dense_map_enable : 1
filter_size_surf : 0.15
filter_size_map : 0.3
cube_side_length : 20
debug : 0
grid_size : 40
patch_size : 8
img_enable : 1
lidar_enable : 1
outlier_threshold : 300 # 78 100 156
ncc_en: false
ncc_thre: 0
img_point_cov : 100 # 1000
laser_point_cov : 0.001 # 0.001
cam_fx: 1453.72
cam_fy: 1453.28
cam_cx: 1172.18
cam_cy: 1041.78
common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
preprocess:
lidar_type: 1 # 1:Livox Avia LiDAR 2:VELO16 3:OUST64 4:XT32
scan_line: 6 # 16 64 32
blind: 5 # blind x m disable
mapping:
acc_cov_scale: 100
gyr_cov_scale: 10000
fov_degree: 90 # 360
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
pcd_save:
pcd_save_en: true
camera:
# img_topic: /usb_cam/image_raw
# img_topic: /camera/image_color
img_topic: /left_camera/image
#xiyuan
Rcl: [0.00162756,-0.999991,0.00390957,
-0.0126748,-0.00392989,-0.999912,
0.999918,0.00157786,-0.012681]
Pcl: [0.0409257, 0.0318424, -0.0927219]
`
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