高端手机网站定制,彭阳网站建设多少钱,淄博网站制作定制改版,厦门做网站优化的公司LVI-SAM室外环境测试
昨天在室外进行了远程控制实验#xff0c;整体上还是比较流畅的#xff0c;顺带录制了 bag 包
本来应当是顺带录制 GPS 信息的#xff0c;但是 bag 包里没有#xff0c;不然还想试一下点云投影来着
同样的 YAML 配置#xff0c;在室内环境中能够成…LVI-SAM室外环境测试
昨天在室外进行了远程控制实验整体上还是比较流畅的顺带录制了 bag 包
本来应当是顺带录制 GPS 信息的但是 bag 包里没有不然还想试一下点云投影来着
同样的 YAML 配置在室内环境中能够成功运行室外环境中 VINS 系统就会报错
started core service [/rosout]
process[lviorf_imuPreintegration-2]: started with pid [5840]
process[lviorf_imageProjection-3]: started with pid [5845]
process[lviorf_mapOptmization-4]: started with pid [5846]
************************************************************
Author : yjz_lucky_boy
Slam mode : mapping
Package version : v0.0.0
Package link : https://github.com/YJZLuckyBoy/lviorf
************************************************************
process[lviorf_visual_feature-5]: started with pid [5851]
process[lviorf_visual_odometry-6]: started with pid [5858]
process[lviorf_visual_loop-7]: started with pid [5859]
process[lviorf_republish-8]: started with pid [5860]
[ INFO] [1705373594.491737540]: ---- Image Projection Started.
process[lviorf_rviz-9]: started with pid [5872]
[ INFO] [1705373594.505423887]: ---- Visual Odometry Estimator Started.
[ INFO] [1705373594.563991439]: ---- IMU Preintegration Started.
[ INFO] [1705373594.705665891]: ---- Visual Loop Detection Started.
[ INFO] [1705373594.749732064]: ---- Map Optimization Started.
[ INFO] [1705373594.876552994]: ---- Visual Feature Tracker Started.
[ERROR] [1705373675.342674361]: VINS big IMU acc bias estimation 2.748152, restart estimator!
[ERROR] [1705373675.342706189]: VINS failure detection!
[ERROR] [1705373675.344765755]: VINS system reboot!
[ WARN] [1705373675.344876041]: throw img, only should happen at the beginning
[ERROR] [1705374184.827644239]: VINS big z translation, restart estimator!
[ERROR] [1705374184.827713006]: VINS failure detection!
[ERROR] [1705374184.836568711]: VINS system reboot!
^C[lviorf_rviz-9] killing on exit
[lviorf_republish-8] killing on exit
[lviorf_visual_loop-7] killing on exit
[lviorf_visual_odometry-6] killing on exit
[lviorf_visual_feature-5] killing on exit
[lviorf_mapOptmization-4] killing on exit
[lviorf_imageProjection-3] killing on exit
[lviorf_imuPreintegration-2] killing on exit
terminate called without an active exception
terminate called without an active exception运行结束后也无法保存点云这与论文中所述 VIO 挂掉LIO 能独立运行的说法是相悖的
Saving map to pcd files ...
Save destination: /home/redwall/Documents/LVI-SAM/
terminate called after throwing an instance of pcl::IOExceptionwhat(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...观察室内环境在开始阶段有一个旋转运动考虑到单目相机在开始阶段仅存在平移运动容易导致初始化失败而 LVI-SAM 的 VIO 子系统是 VINS-Mono因此才会挂掉
