鱼眼相机标定这个可视化正常吗
process[master]: started with pid [2145]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to cf6ba014-76b5-11f1-876c-30c5994650a5
process[rosout-1]: started with pid [2186]
started core service [/rosout]
process[fast_calib-2]: started with pid [2193]
process[rviz-3]: started with pid [2194]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1783065867.048796140]: [QRDetect] Using FISHEYE model. D=[k1 k2 k3 k4]=[+0.137843 -0.042011 +0.000670 -0.000350] PnPScale=4
[INFO] [1783065867.066881309]: Loading the rosbag /root/catkin_ws/src/fast_calib/calib_data/camera_right_front/1.bag
libGL error: failed to create dri screen
libGL error: failed to load driver: nouveau
libGL error: failed to create dri screen
libGL error: failed to load driver: nouveau
[INFO] [1783065867.144059221]: Loaded 5038848 points from the rosbag.
[INFO] [1783065867.162933581]: [FisheyePnP] used_points(raw=16, kept_px=16) tz_pix=1.0688 | tz_norm=1.0688 scale=4
[INFO] [1783065867.162954482]: [FisheyePnP] rvec_pix=[+2.6399 +0.0236 +0.1384] tvec_pix=[-0.1971 +0.3063 +1.0688]
4 centers found. Iterating over 1 possible sets of candidates
[INFO] [1783065867.162990297]: [Mono-Fisheye] centers_cloud size=4
[INFO] [1783065867.162996930]: [LidarDetect] Input cloud size: 5038848
[INFO] [1783065867.211370513]: [LidarDetect] After ROI filter: 391418
[INFO] [1783065867.231152355]: [LidarDetect] After voxel(5mm): 218114
[INFO] [1783065867.283112708]: [LidarDetect] Plane cloud size: 122825 (inliers=122825)
[INFO] [1783065867.283136199]: [LidarDetect] Align rotation: angle=1.396117 rad, axis=(-0.816986, -0.576657, 0.000000)
[INFO] [1783065867.283698466]: [LidarDetect] average_z (aligned frame) = 1.488977, aligned_cloud=122825
[INFO] [1783065869.065431741]: [LidarDetect] Extracted edge points: 4471
[INFO] [1783065869.069593610]: [LidarDetect] Number of edge clusters: 6
[INFO] [1783065869.070540527]: [CircleFit] cluster 0: pts=2352 inliers=654 coeff_size=3 cx=-0.1105 cy=0.3141 r_fit=0.7136
[WARN] [1783065869.070547666]: [CircleFit] cluster 0 rejected by radius: r_fit=0.7136 expected=0.1000 |err|=0.6136 tol=0.0400
[INFO] [1783065869.070601140]: [CircleFit] cluster 1: pts=502 inliers=502 coeff_size=3 cx=0.1015 cy=0.4539 r_fit=0.1218
[INFO] [1783065869.070607272]: [CircleFit] cluster 1: mean_abs_res=0.0027 (th=0.0300), rad_err=0.0218
[INFO] [1783065869.070612811]: [CircleFit] cluster 1 ACCEPTED -> center_origin=(1.0959, -0.9549, 0.5663)
[INFO] [1783065869.070647890]: [CircleFit] cluster 2: pts=455 inliers=455 coeff_size=3 cx=-0.3137 cy=0.1580 r_fit=0.1151
[INFO] [1783065869.070652465]: [CircleFit] cluster 2: mean_abs_res=0.0027 (th=0.0300), rad_err=0.0151
[INFO] [1783065869.070656031]: [CircleFit] cluster 2 ACCEPTED -> center_origin=(0.6796, -1.2492, 0.5641)
[INFO] [1783065869.070685427]: [CircleFit] cluster 3: pts=398 inliers=398 coeff_size=3 cx=-0.5427 cy=0.4850 r_fit=0.1104
[INFO] [1783065869.070689776]: [CircleFit] cluster 3: mean_abs_res=0.0026 (th=0.0300), rad_err=0.0104
[INFO] [1783065869.070693186]: [CircleFit] cluster 3 ACCEPTED -> center_origin=(0.6408, -1.1916, 0.9572)
[INFO] [1783065869.070719615]: [CircleFit] cluster 4: pts=394 inliers=394 coeff_size=3 cx=-0.1363 cy=0.7776 r_fit=0.1088
[INFO] [1783065869.070724052]: [CircleFit] cluster 4: mean_abs_res=0.0028 (th=0.0300), rad_err=0.0088
[INFO] [1783065869.070727684]: [CircleFit] cluster 4 ACCEPTED -> center_origin=(1.0494, -0.9022, 0.9618)
[INFO] [1783065869.070756153]: [CircleFit] cluster 5: pts=57 inliers=51 coeff_size=3 cx=-9.9717 cy=-6.1463 r_fit=10.9718
[WARN] [1783065869.070760823]: [CircleFit] cluster 5 rejected by radius: r_fit=10.9718 expected=0.1000 |err|=10.8718 tol=0.0400
[INFO] [1783065869.070765543]: [LidarDetect] Accepted centers: 4 (expected 4). center_cloud=4, center_z0=4
[Record] Saved four pairs of circular hole centers to /root/catkin_ws/src/fast_calib/output/circle_center_record.txt
[Result] RMSE: 0.0036 m
[Result] Single-scene calibration: extrinsic parameters T_cam_lidar =
-0.869223 -0.493320 -0.032980 0.051117
0.329485 -0.528232 -0.782567 0.049814
0.368635 -0.691091 0.621692 -0.467114
0.000000 0.000000 0.000000 1.000000
[Result] Single-scene calibration results saved to /root/catkin_ws/src/fast_calib/output/single_calib_result.txt
[Result] Saved colored point cloud to: /root/catkin_ws/src/fast_calib/output/colored_cloud.pcd
setting /run_id to cf6ba014-76b5-11f1-876c-30c5994650a5
process[rosout-1]: started with pid [2186]
started core service [/rosout]
process[fast_calib-2]: started with pid [2193]
process[rviz-3]: started with pid [2194]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1783065867.048796140]: [QRDetect] Using FISHEYE model. D=[k1 k2 k3 k4]=[+0.137843 -0.042011 +0.000670 -0.000350] PnPScale=4
[INFO] [1783065867.066881309]: Loading the rosbag /root/catkin_ws/src/fast_calib/calib_data/camera_right_front/1.bag
libGL error: failed to create dri screen
libGL error: failed to load driver: nouveau
libGL error: failed to create dri screen
libGL error: failed to load driver: nouveau
[INFO] [1783065867.144059221]: Loaded 5038848 points from the rosbag.
[INFO] [1783065867.162933581]: [FisheyePnP] used_points(raw=16, kept_px=16) tz_pix=1.0688 | tz_norm=1.0688 scale=4
[INFO] [1783065867.162954482]: [FisheyePnP] rvec_pix=[+2.6399 +0.0236 +0.1384] tvec_pix=[-0.1971 +0.3063 +1.0688]
4 centers found. Iterating over 1 possible sets of candidates
[INFO] [1783065867.162990297]: [Mono-Fisheye] centers_cloud size=4
[INFO] [1783065867.162996930]: [LidarDetect] Input cloud size: 5038848
[INFO] [1783065867.211370513]: [LidarDetect] After ROI filter: 391418
[INFO] [1783065867.231152355]: [LidarDetect] After voxel(5mm): 218114
[INFO] [1783065867.283112708]: [LidarDetect] Plane cloud size: 122825 (inliers=122825)
[INFO] [1783065867.283136199]: [LidarDetect] Align rotation: angle=1.396117 rad, axis=(-0.816986, -0.576657, 0.000000)
[INFO] [1783065867.283698466]: [LidarDetect] average_z (aligned frame) = 1.488977, aligned_cloud=122825
[INFO] [1783065869.065431741]: [LidarDetect] Extracted edge points: 4471
[INFO] [1783065869.069593610]: [LidarDetect] Number of edge clusters: 6
[INFO] [1783065869.070540527]: [CircleFit] cluster 0: pts=2352 inliers=654 coeff_size=3 cx=-0.1105 cy=0.3141 r_fit=0.7136
[WARN] [1783065869.070547666]: [CircleFit] cluster 0 rejected by radius: r_fit=0.7136 expected=0.1000 |err|=0.6136 tol=0.0400
[INFO] [1783065869.070601140]: [CircleFit] cluster 1: pts=502 inliers=502 coeff_size=3 cx=0.1015 cy=0.4539 r_fit=0.1218
[INFO] [1783065869.070607272]: [CircleFit] cluster 1: mean_abs_res=0.0027 (th=0.0300), rad_err=0.0218
[INFO] [1783065869.070612811]: [CircleFit] cluster 1 ACCEPTED -> center_origin=(1.0959, -0.9549, 0.5663)
[INFO] [1783065869.070647890]: [CircleFit] cluster 2: pts=455 inliers=455 coeff_size=3 cx=-0.3137 cy=0.1580 r_fit=0.1151
[INFO] [1783065869.070652465]: [CircleFit] cluster 2: mean_abs_res=0.0027 (th=0.0300), rad_err=0.0151
[INFO] [1783065869.070656031]: [CircleFit] cluster 2 ACCEPTED -> center_origin=(0.6796, -1.2492, 0.5641)
[INFO] [1783065869.070685427]: [CircleFit] cluster 3: pts=398 inliers=398 coeff_size=3 cx=-0.5427 cy=0.4850 r_fit=0.1104
[INFO] [1783065869.070689776]: [CircleFit] cluster 3: mean_abs_res=0.0026 (th=0.0300), rad_err=0.0104
[INFO] [1783065869.070693186]: [CircleFit] cluster 3 ACCEPTED -> center_origin=(0.6408, -1.1916, 0.9572)
[INFO] [1783065869.070719615]: [CircleFit] cluster 4: pts=394 inliers=394 coeff_size=3 cx=-0.1363 cy=0.7776 r_fit=0.1088
[INFO] [1783065869.070724052]: [CircleFit] cluster 4: mean_abs_res=0.0028 (th=0.0300), rad_err=0.0088
[INFO] [1783065869.070727684]: [CircleFit] cluster 4 ACCEPTED -> center_origin=(1.0494, -0.9022, 0.9618)
[INFO] [1783065869.070756153]: [CircleFit] cluster 5: pts=57 inliers=51 coeff_size=3 cx=-9.9717 cy=-6.1463 r_fit=10.9718
[WARN] [1783065869.070760823]: [CircleFit] cluster 5 rejected by radius: r_fit=10.9718 expected=0.1000 |err|=10.8718 tol=0.0400
[INFO] [1783065869.070765543]: [LidarDetect] Accepted centers: 4 (expected 4). center_cloud=4, center_z0=4
[Record] Saved four pairs of circular hole centers to /root/catkin_ws/src/fast_calib/output/circle_center_record.txt
[Result] RMSE: 0.0036 m
[Result] Single-scene calibration: extrinsic parameters T_cam_lidar =
-0.869223 -0.493320 -0.032980 0.051117
0.329485 -0.528232 -0.782567 0.049814
0.368635 -0.691091 0.621692 -0.467114
0.000000 0.000000 0.000000 1.000000
[Result] Single-scene calibration results saved to /root/catkin_ws/src/fast_calib/output/single_calib_result.txt
[Result] Saved colored point cloud to: /root/catkin_ws/src/fast_calib/output/colored_cloud.pcd