Description
Initializing IMUs:
Model: calibrated
T_here_imu0
Update rate: 200.0
Accelerometer:
Noise density: 0.0101387794307
Noise density (discrete): 0.143383993768
Random walk: 0.0062768460716
Gyroscope:
Noise density: 0.000133668670023
Noise density (discrete): 0.00189036046012
Random walk: 0.00052621002386
Initializing imu rosbag dataset reader:
Dataset: multical_calibration_example_data.bag
Topic: /xsens_imu/data
Number of messages: 15200
Reading IMU data (/xsens_imu/data)
Read 15200 imu readings over 76.0 seconds
Initializing calibration target:
Type: aprilgrid
Tags:
Rows: 6
Cols: 6
Size: 0.08 [m]
Spacing 0.024 [m]
Initializing LiDAR rosbag dataset reader:
Dataset: multical_calibration_example_data.bag
Topic: /right_velodyne/velodyne_points
Number of messages: 753
Reading LiDAR data (/right_velodyne/velodyne_points)
Progress 10 / 753 Time remaining: 56s
Traceback (most recent call last):
File "/home/xiaobobai/multical_workspace/devel/bin/multical_calibrate_sensors", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/multical_calibrate_sensors", line 361, in
main()
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/multical_calibrate_sensors", line 265, in main
lidar = sens.LiDAR(config, parsed, targets)
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/kalibr_sensor_calibration/sensors_and_targets.py", line 153, in init
self.loadLiDARDataAndFindTarget(config.getReservedPointsPerFrame())
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/kalibr_sensor_calibration/sensors_and_targets.py", line 178, in loadLiDARDataAndFindTarget
targetPose = find_target_pose(cloud, self.showPointCloud)
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/kalibr_sensor_calibration/FindTargetFromPointCloud.py", line 105, in find_target_pose
position = estimate_intersection(tape1_params, tape2_params)
File "/home/xiaobobai/multical_workspace/src/multical/aslam_offline_calibration/kalibr/python/kalibr_sensor_calibration/FindTargetFromPointCloud.py", line 69, in estimate_intersection
estimated_intersection = np.linalg.lstsq(a, b, rcond=None)[0]
File "/usr/lib/python2.7/dist-packages/numpy/linalg/linalg.py", line 1953, in lstsq
0, work, -1, iwork, 0)
TypeError: a float is required