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Hi, I was trying to test the lidar-lidar calibration package with the bag given as an example and everything works fine if I use the velodyne (360 FoV) as the main one and the Robosense as the sub. Since no requirement is given on who should be the main and who should be the sub I tried inverting their roles by swapping the topics in the config file. Bu I get this error:

[multi_lidar_calib-1] multi_lidar_calib: /build/pcl-gWGA5r/pcl-1.10.0+dfsg/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:138: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector&, std::vector&) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed.
[ERROR] [multi_lidar_calib-1]: process has died [pid 16293, exit code -6, cmd '/home/sagittarius/idv_code/idv-dev/install/multi_lidar_calib/lib/multi_lidar_calib/multi_lidar_calib --ros-args -r __node:=multi_lidar_calib_node --params-file /home/sagittarius/idv_code/idv-dev/install/multi_lidar_calib/share/multi_lidar_calib/config/params.yaml'].

What can I do about it?
Is there any requirement in the pointclouds' FoV that should be taken into account to make the calibration work?

Thanks in advance

Hi, we tried to use this package to calibrate our lidar and camera. Our checkboard pattern is 7*9, each square size is 10cm * 10cm. I modified the function in feature_extract.cpp line 840, cv::Size2i patternNum(7,9) according to our checkboard. Only with this modification, we got the following error：

cv2.error: OpenCV(4.1.0) C:\projects\opencv-python\opencv\modules\calib3d\src\solvepnp.cpp:92: error: (-215:Assertion failed) ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) ) && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) in function 'cv::solvePnP'

I already changed the feature lauuch file and camera.yaml file.

Any suggestions for this bug will be appreciated.

When building the multi_lidar_calib package in ROS 2 Humble, I get the following error

-- stderr: multi_lidar_calib
** WARNING ** io features related to pcap will be disabled
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
FAST_GICP_LIBRARIES
    linked by target "multi_lidar_calib" in directory /workspaces/autoware_iv/src/sensor_component/calibration_tools/calibration_tools/lidar-lidar-calib/src/multi_lidar_calib

CMake Generate step failed.  Build files cannot be regenerated correctly.

The FAST_GICP package builds ok, but it seems that cannot be found by the multi_lidar_calib

I have successfully built the package. But I encountered an error when I launched the package. It appears, to be the errors from pcl_utils.h.

I configured the launch file accordingly with proper topic names and lidar model. The gui is not opening at all. Also, shows warning that OS-128 is not supported.

Do you have any papers related to this project?

Hi, I'm trying to build multi_lidar_calib on Ubuntu 22.04 with ros humble. I got stuck on the problem with pcl_conversions, as you can see in the screenshot.

I couldn't solve the problem by installing ros-humble-pcl-conversions and libpcl-conversions-dev. The fact that I don't get errors with #include <pcl_conversions/pcl_conversions.h> in the multi_lidar_calib.cpp file suggests that the library is installed correctly.
Does anyone have an idea what I might have done wrong, or could someone explain how they managed to install the project successfully?

Thank you!

我在网上看到贵公司的毫米波雷达标定专利，请问贵公司是否计划将毫米波雷达标定的代码开源？谢谢