when I try example , I met a problem descrbed as follows,how to address this problem?

[znzouxiaqu]

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

[znzouxiaqu]

I has overcame this problem, the reason is that the version of numpy is wrong .the right version is 1.15.0
thanks for your work, it is hugely convenient for my study，I desrie your paper about this project，can you give a download link？thanks.

[znzouxiaqu]

"T_here_cam0:" means what in lidar.yaml showed as follows：

    lidar0:
      rostopic: /right_velodyne/velodyne_points
      T_here_cam0:
      - [0.0, 0.0, 1.0, 0.15]
      - [-1.0, 0.0, 0.0, 0.21]
      - [0.0, -1.0, 0.0, -0.1]
      - [0.0, 0.0, 0.0, 1.0]

[zhixy]

Thank you for your appreciation, the paper will come very soon

[znzouxiaqu]

Thank you for your appreciation, the paper will come very soon
thanks，i met a question as follows,how to understand this four formulas：
d = plane_normal.dot(t_p)
theta = plane_normal.dot(C_p_l * dir_l)
predictedMeasurement = d / theta * -1.0
error = ket.ScalarError(distance, self.invR,predictedMeasurement)

[znzouxiaqu]

i met a problem:

Estimating initial extrinsic parameters between primary camera and all other sensors
time interval threshold 0.36
The data gathering will break because of too large time interval (0.465955495834s)
Time span of gathered data is 11.2898950577s

File "/home/xixihaha/multical_workspace/src/multical-master/aslam_offline_calibration/kalibr/python/kalibr_sensor_calibration/sensors_and_targets.py", line 227, in _onPlane
p = np.dot(C_p_w, points) + t_p_w.reshape((3, 1))
ValueError: shapes (3,3) and (0,) not aligned: 3 (dim 1) != 0 (dim 0)

whats wrong? Looking forward to your reply，thanks very much.