I do not understand how this algorithm works, but why the extrinsic rotation matrix is not consistent? every time I run the algorithm I got different result!
please find the output below for three runs.
Thanks.
==================================================================================
ibrahim@ihroob:~/catkin_ws$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch
... logging to /home/ibrahim/.ros/log/e4333678-a5dd-11eb-8a1b-000c4302407b/roslaunch-ihroob-9257.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.
Hi @mingjitianming @chennuo0125-HIT
I do not understand how this algorithm works, but why the extrinsic rotation matrix is not consistent? every time I run the algorithm I got different result!
please find the output below for three runs.
Thanks.
================================================================================== ibrahim@ihroob:~/catkin_ws$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch ... logging to /home/ibrahim/.ros/log/e4333678-a5dd-11eb-8a1b-000c4302407b/roslaunch-ihroob-9257.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.
SUMMARY
PARAMETERS
NODES / calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)
process[calib_exR_lidar2imu_node-1]: started with pid [9272] /points_raw, /imu_raw [ INFO] [1619369790.190354985, 3976.880000000]: lidar buffer size 5, imu buffer size 99 [ INFO] [1619369795.393294432, 3982.080000000]: lidar buffer size 5, imu buffer size 89 [ INFO] [1619369800.392866976, 3987.080000000]: lidar buffer size 5, imu buffer size 97 [ INFO] [1619369805.393084713, 3992.080000000]: lidar buffer size 6, imu buffer size 85 [ INFO] [1619369810.395708642, 3997.080000000]: lidar buffer size 5, imu buffer size 86 [ INFO] [1619369815.398423282, 4002.080000000]: lidar buffer size 5, imu buffer size 92 ^C[calib_exR_lidar2imu_node-1] killing on exit total lidar buffer size 324, imu buffer size 5265 constraints size 323 constraints size 323 result euler angle(RPY) : 2.02875 0.0837701 -0.631102 result extrinsic rotation matrix : 0.804547 -0.200267 -0.559104 -0.587966 -0.401234 -0.702359 -0.0836722 0.893814 -0.440562 shutting down processing monitor... ... shutting down processing monitor complete done ibrahim@ihroob:~/catkin_ws$ ^C ibrahim@ihroob:~/catkin_ws$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch ... logging to /home/ibrahim/.ros/log/e4333678-a5dd-11eb-8a1b-000c4302407b/roslaunch-ihroob-10630.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.
SUMMARY
PARAMETERS
NODES / calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)
process[calib_exR_lidar2imu_node-1]: started with pid [10645] /points_raw, /imu_raw [ INFO] [1619373238.069081582, 7423.670000000]: lidar buffer size 5, imu buffer size 94 [ INFO] [1619373243.243420420, 7428.840000000]: lidar buffer size 5, imu buffer size 93 ^C[calib_exR_lidar2imu_node-1] killing on exit total lidar buffer size 79, imu buffer size 1316 constraints size 78 constraints size 78 result euler angle(RPY) : 1.91052 -0.661753 -2.06045 result extrinsic rotation matrix : -0.371043 -0.0215748 -0.928365 -0.696215 0.668024 0.262734 0.614501 0.743827 -0.262886 shutting down processing monitor... ... shutting down processing monitor complete done ibrahim@ihroob:~/catkin_ws$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch ... logging to /home/ibrahim/.ros/log/e4333678-a5dd-11eb-8a1b-000c4302407b/roslaunch-ihroob-10704.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.
SUMMARY
PARAMETERS
NODES / calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)
process[calib_exR_lidar2imu_node-1]: started with pid [10719] /points_raw, /imu_raw [ INFO] [1619373352.608345477, 7538.170000000]: lidar buffer size 5, imu buffer size 98 [ INFO] [1619373357.789264147, 7543.350000000]: lidar buffer size 6, imu buffer size 88 ^C[calib_exR_lidar2imu_node-1] killing on exit total lidar buffer size 66, imu buffer size 1143 constraints size 65 constraints size 65 result euler angle(RPY) : 1.80554 -0.797497 -0.0234645 result extrinsic rotation matrix : 0.698308 -0.70125 0.143579 -0.0163885 -0.216197 -0.976212 0.71561 0.679344 -0.162465 shutting down processing monitor... ... shutting down processing monitor complete done