如何修改视点与物体之间的距离

[whd14333]

如何修改视点与物体之间的距离

[Chen-Albert-FENG]

https://github.com/HKUST-Aerial-Robotics/FC-Planner/blob/master/FC-Planner/src/hierarchical_coverage_planner/launch/mbs.launch#L81

[whd14333]

将viewpoints_distance设置成20.0之后，运行mbs.launch报错，这该如何解决

... logging to /home/ros/.ros/log/ab59a54c-cd9a-11ef-8c3f-000c29f5061d/roslaunch-ubuntu-2902.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:40395/

SUMMARY
========

PARAMETERS
 * /hcplanner_exec/astar/allocate_num: 1000000
 * /hcplanner_exec/astar/lambda_heu_hc: 10.0
 * /hcplanner_exec/astar/max_search_time: 0.0075
 * /hcplanner_exec/astar/resolution_astar: 0.4
 * /hcplanner_exec/astar/searching_res: 0.4
 * /hcplanner_exec/hcmap/checkScale: 5.0
 * /hcplanner_exec/hcmap/checkSize: 7
 * /hcplanner_exec/hcmap/dilateRadius: 0.5
 * /hcplanner_exec/hcmap/inflateVoxel: 4
 * /hcplanner_exec/hcmap/interval: 1.0
 * /hcplanner_exec/hcmap/plane_thickness: 3.0
 * /hcplanner_exec/hcmap/resolution: 0.4
 * /hcplanner_exec/hcopp/TimeStamp: 0.3
 * /hcplanner_exec/hcopp/TrajSampleFrequency: 0.1
 * /hcplanner_exec/hcopp/droneMesh: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/JointRadius: 1.5
 * /hcplanner_exec/hcplanner/amax_: 1.0
 * /hcplanner_exec/hcplanner/current_x_: 0.0
 * /hcplanner_exec/hcplanner/current_y_: 20.0
 * /hcplanner_exec/hcplanner/current_z_: -13.0
 * /hcplanner_exec/hcplanner/cx: 320.0
 * /hcplanner_exec/hcplanner/cy: 240.0
 * /hcplanner_exec/hcplanner/exec_mode: release
 * /hcplanner_exec/hcplanner/fullcloud: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/fx: 417.0467
 * /hcplanner_exec/hcplanner/fy: 461.0951
 * /hcplanner_exec/hcplanner/global_par_file: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/global_problem_file: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/global_result_file: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/global_runs: 1
 * /hcplanner_exec/hcplanner/global_solver: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/jmax_: 0.5
 * /hcplanner_exec/hcplanner/local2opt_trial: 5000
 * /hcplanner_exec/hcplanner/local_folder: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/local_runs: 1
 * /hcplanner_exec/hcplanner/mesh: /home/ros/ROS/FC-...
 * /hcplanner_exec/hcplanner/model_downsample_size: 2.0
 * /hcplanner_exec/hcplanner/precision_: 100
 * /hcplanner_exec/hcplanner/safe_inner_dist_coeff: 1.1
 * /hcplanner_exec/hcplanner/sample_step4normal: 1.0
 * /hcplanner_exec/hcplanner/tripod_head: False
 * /hcplanner_exec/hcplanner/vmax_: 2.0
 * /hcplanner_exec/hcplanner/yddmax_: 0.523598766667
 * /hcplanner_exec/hcplanner/ydmax_: 1.04719753333
 * /hcplanner_exec/hctraj/CloudFile: /home/ros/ROS/FC-...
 * /hcplanner_exec/hctraj/PitchFile: /home/ros/ROS/FC-...
 * /hcplanner_exec/hctraj/PosFile: /home/ros/ROS/FC-...
 * /hcplanner_exec/hctraj/TrajFile: /home/ros/ROS/FC-...
 * /hcplanner_exec/hctraj/YawFile: /home/ros/ROS/FC-...
 * /hcplanner_exec/hctraj/amax_: 1.0
 * /hcplanner_exec/hctraj/drone_radius: 0.3
 * /hcplanner_exec/hctraj/jmax_: 0.5
 * /hcplanner_exec/hctraj/rho_T: 500.0
 * /hcplanner_exec/hctraj/rho_a: 800.0
 * /hcplanner_exec/hctraj/rho_e: 500.0
 * /hcplanner_exec/hctraj/rho_j: 800.0
 * /hcplanner_exec/hctraj/rho_p: 800.0
 * /hcplanner_exec/hctraj/rho_v: 800.0
 * /hcplanner_exec/hctraj/rho_z: 2000.0
 * /hcplanner_exec/hctraj/vmax_: 2.0
 * /hcplanner_exec/hctraj/ydmax_: 1.04719753333
 * /hcplanner_exec/perception_utils/left_angle: 0.654498458333
 * /hcplanner_exec/perception_utils/max_dist: 11.0
 * /hcplanner_exec/perception_utils/right_angle: 0.654498458333
 * /hcplanner_exec/perception_utils/top_angle: 0.479965536111
 * /hcplanner_exec/perception_utils/vis_dist: 3.0
 * /hcplanner_exec/rosa_main/Ground: True
 * /hcplanner_exec/rosa_main/Prune: False
 * /hcplanner_exec/rosa_main/alpha: 0.3
 * /hcplanner_exec/rosa_main/delta: 0.01
 * /hcplanner_exec/rosa_main/estimation_num: 2000
 * /hcplanner_exec/rosa_main/estimation_number: 10
 * /hcplanner_exec/rosa_main/k_KNN: 6
 * /hcplanner_exec/rosa_main/lower_bound_length: 0.1
 * /hcplanner_exec/rosa_main/lower_bound_prune_angle: 75.0
 * /hcplanner_exec/rosa_main/num_dcrosa: 2
 * /hcplanner_exec/rosa_main/num_drosa: 5
 * /hcplanner_exec/rosa_main/pcd: /home/ros/ROS/FC-...
 * /hcplanner_exec/rosa_main/pt_downsample_size: 0.02
 * /hcplanner_exec/rosa_main/radius: 0.1
 * /hcplanner_exec/rosa_main/sample_r: 0.05
 * /hcplanner_exec/rosa_main/th_mah: 0.01
 * /hcplanner_exec/rosa_main/upper_bound_angle_inner_decomp: 45.0
 * /hcplanner_exec/rosa_main/upper_bound_length_inner_decomp: 1.0
 * /hcplanner_exec/rosa_main/upper_bound_original_points_num: 10000
 * /hcplanner_exec/viewpoint_manager/GroundPos: -10.5
 * /hcplanner_exec/viewpoint_manager/attitude_type: all
 * /hcplanner_exec/viewpoint_manager/fov_h: 55.0
 * /hcplanner_exec/viewpoint_manager/fov_w: 75.0
 * /hcplanner_exec/viewpoint_manager/max_iter_num: 3
 * /hcplanner_exec/viewpoint_manager/pitch_lower: -85.0
 * /hcplanner_exec/viewpoint_manager/pitch_upper: 70.0
 * /hcplanner_exec/viewpoint_manager/pose_update: True
 * /hcplanner_exec/viewpoint_manager/safeHeight: 1.5
 * /hcplanner_exec/viewpoint_manager/safe_radius: 3.0
 * /hcplanner_exec/viewpoint_manager/viewpoints_distance: 20.0
 * /hcplanner_exec/viewpoint_manager/visible_range: 11.0
 * /hcplanner_exec/viewpoint_manager/zGround: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    hcplanner_exec (hierarchical_coverage_planner/hcplanner_exec)

ROS_MASTER_URI=http://localhost:11311

process[hcplanner_exec-1]: started with pid [2921]

------------------------YOUR DEVICE INFO------------------------
Project        : FC-Planner
Author         : Chen Feng
Current Time   : Wed Jan  8 00:30:14 2025
CPU Info       : AMD Ryzen 9 7945HX with Radeon Graphics        
RAM Info       : 7.74GB Physical Memory, 1.85GB Virtual Memory
OS Info        : Linux 5.4.0-150-generic (x86_64)
GCC Version    : 7.5.0
Eigen Version  : 3.3.4
PCL Version    : 1.8.1
Boost Version  : 1.65.1
----------------------------------------------------------------

[ INFO] [1736325014.584577081]: [SSD] Initialized!
[ INFO] [1736325014.598718212]: [ViewpointManager] Initialized!
[ INFO] [1736325014.723747834]: [Planner] Initialized! 
[ INFO] [1736325014.740515909]: [Traj] Initialized! 
[ INFO] [1736325014.751000425]: [FC-Planner] Initialized! 
[ERROR] [1736325028.345266170]: Normal Estimation...
[ERROR] [1736325028.376980303]: Final downsample voxel size: 0.024000, Cloud size: 1616.
[ INFO] [1736325028.377177349]: [SSD] normalize time = 32.054726 ms.
[ INFO] [1736325028.413429592]: [SSD] calculate adj matrix time = 31.027408 ms.
[ INFO] [1736325028.519961709]: [SSD] drosa estimation time = 106.400172 ms.
[ INFO] [1736325028.534152359]: [SSD] dcrosa estimation time = 14.049889 ms.
[ INFO] [1736325028.535342080]: [SSD] line extraction time = 1.115973 ms.
[ INFO] [1736325028.535722576]: [SSD] recentering time = 0.320816 ms.
[ INFO] [1736325028.535781756]: [SSD] graph decomposition time = 0.021720 ms.
[ INFO] [1736325028.535807204]: [SSD] inner decomposition time = 0.015939 ms.
2_element_Merge_id:6
similarity:88.2827
similarity:38.135
2_element_Merge_id:12
branch_merge->segments: 32
branch_merge->pairs: 12
[ INFO] [1736325028.535865802]: [SSD] branch merge time = 0.050914 ms.
{9 8 10 19 18 }
{24 30 }
{4 11 12 }
{12 13 }
{4 5 6 7 8 }
{4 3 }
{3 2 0 1 }
{13 22 23 }
{13 14 15 16 17 18 }
{18 20 21 29 }
{29 28 27 26 25 23 }
{23 24 }
[ INFO] [1736325028.535898092]: [SSD] restore scale time = 0.017012 ms.
[ INFO] [1736325028.562163173]: [SSD] distribute original cloud time = 26.210780 ms.
[ INFO] [1736325028.563007086]: [SSD] calculate inner dist time = 0.213247 ms.
[ INFO] [1736325028.563076324]: [SSD] store real graph time = 0.019687 ms.
[ INFO] [1736325028.563089990]: [SSD] SSD latency = 185.754578 ms. Normal estimation costs 32.223619 ms.
[ INFO] [1736325028.563098325]: [SSD] --- <SSD finished> --- 
[ INFO] [1736325028.564067516]: [Planner] input points size = 1258. 
[ INFO] [1736325028.619660792]: [Planner] global mapping time = 53.726889 ms. 
[ WARN] [1736325028.647654223]: [ViewpointManager] Input map successfully!! size = 20571
[ WARN] [1736325028.647763396]: [ViewpointManager] Input model successfully!! size = 1258
[ WARN] [1736325028.648028749]: [ViewpointManager] Input model normals successfully!! size = 1258
[ WARN] [1736325028.659006772]: [ViewpointManager] Input viewpoints successfully!! size = 532
Stack trace (most recent call last):
#16   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#15   Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838df8ec9, in _start
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b50f4dc86, in __libc_start_main
#13   Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838df8343, in main
#12   Object "/opt/ros/melodic/lib/libroscpp.so", at 0x7f0b5501437a, in ros::spin()
#11   Object "/opt/ros/melodic/lib/libroscpp.so", at 0x7f0b5502ba38, in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*)
#10   Object "/opt/ros/melodic/lib/libroscpp.so", at 0x7f0b54fd42fa, in ros::CallbackQueue::callAvailable(ros::WallDuration)
#9    Object "/opt/ros/melodic/lib/libroscpp.so", at 0x7f0b54fd2558, in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*)
#8    Object "/opt/ros/melodic/lib/libroscpp.so", at 0x7f0b55027e91, in ros::SubscriptionQueue::call()
#7    Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838e8bdee, in ros::SubscriptionCallbackHelperT<boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&)
#6    Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838e886ed, in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)
#5    Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838e85618, in predrecon::HCOPP::ExecPlan()
#4    Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838e06aae, in predrecon::hierarchical_coverage_planner::HCPlan(ros::NodeHandle&)
#3    Object "/home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec", at 0x560838dffebe, in predrecon::hierarchical_coverage_planner::viewpointGeneration()
#2    Object "/home/ros/ROS/FC-Planner/devel/lib/libviewpoint_manager.so", at 0x7f0b557bb572, in predrecon::ViewpointManager::updateViewpoints()
#1    Object "/home/ros/ROS/FC-Planner/devel/lib/libviewpoint_manager.so", at 0x7f0b557b941d, in predrecon::ViewpointManager::uncNeighVps(pcl::PointXYZ, pcl::Normal)
#0    Object "/home/ros/ROS/FC-Planner/devel/lib/libviewpoint_manager.so", at 0x7f0b557b3e69, in predrecon::ViewpointManager::viewpointSafetyCheck(pcl::PointXYZ&)
Segmentation fault (Address not mapped to object [0x7f0b08b81dfd])
================================================================================REQUIRED process [hcplanner_exec-1] has died!
process has died [pid 2921, exit code -11, cmd /home/ros/ROS/FC-Planner/devel/lib/hierarchical_coverage_planner/hcplanner_exec __name:=hcplanner_exec __log:=/home/ros/.ros/log/ab59a54c-cd9a-11ef-8c3f-000c29f5061d/hcplanner_exec-1.log].
log file: /home/ros/.ros/log/ab59a54c-cd9a-11ef-8c3f-000c29f5061d/hcplanner_exec-1*.log
Initiating shutdown!
================================================================================
[hcplanner_exec-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[Chen-Albert-FENG]

/hcplanner_exec/perception_utils/max_dist: 11.0 您可以注意一下这里https://github.com/HKUST-Aerial-Robotics/FC-Planner/blob/master/FC-Planner/src/hierarchical_coverage_planner/launch/mbs.launch#L9 这表示相机可视最大距离是11米 如您所示当将采样距离设置成20米之后 但相机最大可视距离只有11米可能就找不到合适的视点了