ouster error

[yahya hajlaoui]

Hello,
first thank you for your great work!
I have an issue while using the launch file, It mesure the IMU and then the error '****** Remove_outlier_using_ransac_pnp error*****
' appears.
I searched for this error and I think it is a pose estimation error or a calibration error write ? do you know how can I solve the problem
I am using another data of an ouster os1-128.
here is the error.
Thank you so much for your work again.

here is my config file :
common:
lidar_topic: "/ouster/points"
imu_topic: "/imu/data"
image_topic: "/camera/image_raw"
image_type: RGB8 # 1 RGB8 2 COMPRESSED
point_filter_num: 4
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
gravity_acc: [ 0.0, 0.0, 9.81]

lidar_parameter:
lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
N_SCANS: 128
SCAN_RATE: 20 # only need to be set for velodyne, unit: Hz,
time_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 4
fov_degree: 180
det_range: 100.0

imu_parameter:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
time_diff_enable: false

camera_parameter:
image_width: 2048
image_height: 1536
camera_intrinsic: [ 1722.0259, 0.0, 962.0152,
0.0, 1715.7976, 753.9130,
0.0, 0.0, 1.0 ]
camera_dist_coeffs: [-0.055235, -0.000564, -0.005090, -0.005836, 0.000000] #k1, k2, p1, p2, k3

extrinsic_parameter:
extrinsic_enable: true # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_t_imu_lidar: [ 0.0, 0.0, 0.0 ]
extrinsic_R_imu_lidar: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
extrinsic_t_imu_camera: [-0.0673894,-0.04949313,-0.05140671]
extrinsic_R_imu_camera: [-0.03108824 ,-0.99901124 ,-0.03178154,-0.01624026 ,-0.03128784 ,0.99937847,-0.9993847 ,0.03158506 ,-0.01525152]

[Zikang Yuan]

This means that the vision module does not find a reassembled match, so the vision module does not use the current data to optimize the camera-parameters, but this does not affect the normal operation of the system.

[我借此火]

This means that the vision module does not find a reassembled match, so the vision module does not use the current data to optimize the camera-parameters, but this does not affect the normal operation of the system.

您好，我在运行kitti数据集运行一半左右的时间后，系统卡住并只出现最后一句话，****** Remove_outlier_using_ransac_pnp error*****
这句话一直更新但速度极为缓慢

运行了接近一两个小时