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APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
GNU General Public License v3.0
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Initialization fails. #14

Open Lachiven opened 3 years ago

Lachiven commented 3 years ago

Ceres Solver Report: Iterations: 14, Initial cost: 3.073979e+02, Final cost: 7.853994e-18, Termination: CONVERGENCE [ WARN] [1606536377.199574253]: [Initialization] fails. Ceres Solver Report: Iterations: 2, Initial cost: 7.994445e-18, Final cost: 7.422366e-18, Termination: CONVERGENCE [ WARN] [1606536390.827585457]: [Initialization] fails. Ceres Solver Report: Iterations: 2, Initial cost: 7.709791e-18, Final cost: 7.606703e-18, Termination: CONVERGENCE [ WARN] [1606536418.308922434]: [Initialization] fails. Ceres Solver Report: Iterations: 2, Initial cost: 7.761621e-18, Final cost: 7.714067e-18, Termination: CONVERGENCE [ WARN] [1606536496.896175485]: [Initialization] fails. Ceres Solver Report: Iterations: 2, Initial cost: 7.816852e-18, Final cost: 7.785927e-18, Termination: CONVERGENCE [ WARN] [1606536581.424251185]: [Initialization] fails. Ceres Solver Report: Iterations: 2, Initial cost: 7.862062e-18, Final cost: 7.837863e-18, Termination: CONVERGENCE [ WARN] [1606536670.097768013]: [Initialization] fails.

Lachiven commented 3 years ago

What happend with initialization fails, how to reslove it

Lachiven commented 3 years ago

Load dataset from /home/XXX/biaodingshujv.bag /velodyne_packets: 198 /imu: 3693 Ceres Solver Report: Iterations: 15, Initial cost: 2.048761e+02, Final cost: 3.279987e-16, Termination: CONVERGENCE Vector4d cov0.0192516 Vector4d cov0.0336664 Vector4d cov0.0432187 Vector4d cov0.0517338 Vector4d cov0.0589967 Vector4d cov0.0652474 Vector4d cov0.0707304 Vector4d cov0.0759678 Vector4d cov0.0808257 Vector4d cov0.0854074 Vector4d cov0.0897549 Vector4d cov0.0915151 Vector4d cov0.0918367 Vector4d cov0.0928698 Vector4d cov0.0970758 Vector4d cov0.101158 Vector4d cov0.105023 [ WARN] [1606699085.790641965]: [Initialization] fails.

What's the requeirment of the date?

goktugyildirim commented 3 years ago

@Lachiven Did you solve this problem? I get "initialization fails". Do you know the root cause of this problem?

Lachiven commented 3 years ago

@goktugyildirim Hi, I think it's because "x" "y" "z" "Roll" "Pitch" and "Yaw" in your data is not complete. Or you can see the ori code print some related parameters like "cov" of initialization to see the degree of completion.If your data is fine ,I think you need to Initialization for couple of times.

Chrislzy1993 commented 3 years ago

@goktugyildirim , what kind of data did you use? when i use calib data captured around plane motion, it fails to same error too

zouyajing commented 2 years ago

@goktugyildirim , what kind of data did you use? when i use calib data captured around plane motion, it fails to same error too

Same problem due to planar motion here

goktugyildirim commented 2 years ago

I guess initialization means that monocular camera initialization to generate first 3D points to track in order to estimate camera pose in each time stamp. I don't know how they handle this problem

zouyajing commented 2 years ago

I guess the initialization here is to do hand-eye calibration, instead of get initial 3D points.

My problem is caused by planar motion. There is no enough excitation for roll pitch and z. So I manually move my sensors in all the directions with full excitation. Then initialization is finished.

goktugyildirim commented 2 years ago

Ahaha sorry i deal with cam imu at the same time, i mixed :)