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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Estimating time shift camera to imu error #529

Closed yimei910110 closed 2 years ago

yimei910110 commented 2 years ago

Initializing a pose spline with 2880464 knots (100.000000 knots per second over 28804.639000 seconds)

when i tried ids camera and imu calibration, there usually appeared the error above， can someone help me out of this thank you very much....

more logs are as below:

Initializing IMUs: Update rate: 200.0 Accelerometer: Noise density: 0.00801183223537 Noise density (discrete): 0.113304418067 Random walk: 0.000141686338393 Gyroscope: Noise density: 0.00222086638274 Noise density (discrete): 0.0314077935868 Random walk: 5.5539984884e-05 Initializing imu rosbag dataset reader: Dataset: rgb_imu_4_resize.bag Topic: /imu0 Number of messages: 20335 Reading IMU data (/imu0) Read 20335 imu readings over 141.9 seconds
Initializing calibration target: Type: aprilgrid Tags: Rows: 6 Cols: 6 Size: 0.021 [m] Spacing 0.00588 [m] Initializing camera chain: Camera chain - cam0: Camera model: pinhole Focal length: [780.86914, 779.72839] Principal point: [280.589722, 271.620178] Distortion model: radtan Distortion coefficients: [-0.06675699353218079, 0.29528072476387024, 0.0006716532516293228, -0.0005034907953813672] baseline: no data available Initializing camera rosbag dataset reader: Dataset: rgb_imu_4_resize.bag Topic: /cam0/image_raw Number of images: 303 Extracting calibration target corners Extracted corners for 137 images (of 303 images)

Building the problem Spline order: 6 Pose knots per second: 100 Do pose motion regularization: False xddot translation variance: 1000000.000000 xddot rotation variance: 100000.000000 Bias knots per second: 50 Do bias motion regularization: True Blake-Zisserman on reprojection errors -1 Acceleration Huber width (sigma): -1.000000 Gyroscope Huber width (sigma): -1.000000 Do time calibration: True Max iterations: 30 Time offset padding: 10.000000 Estimating time shift camera to imu:

Initializing a pose spline with 2880464 knots (100.000000 knots per second over 28804.639000 seconds)

goldbattle commented 2 years ago

Nothing seems wrong from the log you provided. In the future feel free to upload the bag that it fails on for others to use to debug.