Closed Taeyoung96 closed 1 year ago
I understand the problem... you cannot recover the full 6 DoF pose between the sensors if you cannot perform rotation about at-least two orthogonal axes. In your case, if you drive in a plane the best you can do is you can recover two translation and 1 rotation parameter between the axes. The other need to be tape measured or should be figured out using some other method. Can you share a picture of your setup?
@SubMishMar
It's attached to the husky robot, and I couldn't show the robot's setup right now. :cry:
Thanks for your help.
BTW, When I run the roslaunch linkalibr linkalibr_ouster_vectornav.launch
with my own dataset.
I got this error.
SUMMARY
========
CLEAR PARAMETERS
* /ros_test_node/
PARAMETERS
* /ros_test_node/accelerometer_noise_density: 0.1
* /ros_test_node/accelerometer_random_walk: 0.001
* /ros_test_node/bag_durr: -1
* /ros_test_node/bag_start: 0.0
* /ros_test_node/calib_extrinsics: True
* /ros_test_node/calib_lidar_timeoffset: False
* /ros_test_node/calib_lidarimu_dt: 0.0
* /ros_test_node/calibration_result_velodyne_filename: /home/catkin_ws/s...
* /ros_test_node/deskewed_scan_folder_name: /home/catkin_ws/s...
* /ros_test_node/do_planar_update: False
* /ros_test_node/do_undistortion: True
* /ros_test_node/downsample_for_mapping: True
* /ros_test_node/gen_data_for_optimization: False
* /ros_test_node/gravity: [0.0, 0.0, 9.81]
* /ros_test_node/gyroscope_noise_density: 0.01
* /ros_test_node/gyroscope_random_walk: 2e-05
* /ros_test_node/imu_measurements_filename: /home/catkin_ws/s...
* /ros_test_node/imu_trajectory_filename: /home/catkin_ws/s...
* /ros_test_node/init_calibration_result_velodyne_filename: /home/catkin_ws/s...
* /ros_test_node/init_imu_thresh: 0.25
* /ros_test_node/init_window_time: 0.5
* /ros_test_node/lidar_trajectory_filename: /home/catkin_ws/s...
* /ros_test_node/limit_map_size: True
* /ros_test_node/lin_bias_filename: /home/catkin_ws/s...
* /ros_test_node/lin_calib_dt_filename: /home/catkin_ws/s...
* /ros_test_node/lin_calib_extrinsic_filename: /home/catkin_ws/s...
* /ros_test_node/lin_trajectory_filename: /home/catkin_ws/s...
* /ros_test_node/lin_velocity_filename: /home/catkin_ws/s...
* /ros_test_node/lo_trajectory_filename: /home/catkin_ws/s...
* /ros_test_node/max_clones: 2
* /ros_test_node/ndt_resolution: 0.25
* /ros_test_node/no_of_scans_for_map: 200
* /ros_test_node/path_bag: /home/catkin_ws/s...
* /ros_test_node/planar_points_deskewed_map_filename: /home/catkin_ws/s...
* /ros_test_node/planar_points_raw_scans_filename: /home/catkin_ws/s...
* /ros_test_node/plane_params_filename: /home/catkin_ws/s...
* /ros_test_node/raw_scan_folder_name: /home/catkin_ws/s...
* /ros_test_node/state_init_rx_noise: 0.1
* /ros_test_node/state_init_ry_noise: 0.1
* /ros_test_node/state_init_rz_noise: 0.1
* /ros_test_node/state_init_timeoffset_noise: 0.01
* /ros_test_node/state_init_x_noise: 0.5
* /ros_test_node/state_init_y_noise: 0.5
* /ros_test_node/state_init_z_noise: 0.5
* /ros_test_node/surfel_map_filename: /home/catkin_ws/s...
* /ros_test_node/topic_imu: /camera/imu
* /ros_test_node/topic_lidar: /velodyne_points
* /ros_test_node/updater_chi2_multiplier: 1
* /ros_test_node/updater_do_chi2_check: False
* /ros_test_node/updater_rotation_noise: 0.1
* /ros_test_node/updater_translation_noise: 0.1
* /ros_test_node/use_fej: False
* /ros_test_node/use_imuavg: True
* /ros_test_node/use_rk4int: True
* /ros_test_node/view_surfel_map: True
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
ros_test_node (linkalibr/ros_test_node)
ROS_MASTER_URI=http://localhost:11311
WARNING: Package name "imuPacket" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[ros_test_node-1]: started with pid [289]
[ INFO] [1656905314.652394785]: Reading General Estimator Parameters
[ INFO] [1656905314.671143998]: Reading Filter Initialization Parameters
[ INFO] [1656905314.674103560]: Reading IMU Noise Parameters
[ INFO] [1656905314.679096047]: Reading Updater Chi2 Multiplier
[ INFO] [1656905314.681942442]: Reading Rotation and Noise Update
[ INFO] [1656905314.684720351]: Reading Gravity
[ INFO] [1656905314.686208364]: Reading initial Timeoffset
[ INFO] [1656905314.687658026]: Reading NDT Resolution
[ INFO] [1656905314.689400570]: Reading Undistortion Flag
[ INFO] [1656905314.690871117]: Reading lin output file names
[ INFO] [1656905314.698841100]: Reading lo output trajectory file name
[ INFO] [1656905314.700299175]: Reading the filename to read the initial calibration result to
[ INFO] [1656905314.701118070]: Reading initial I_T_L
[ INFO] [1656905314.701166720]: Reading the filename to write the final calibration result to
[ INFO] [1656905314.701882422]: Reading the folder name to write the raw and deskewed scan
=======================================
Lidar Inertial Calibration ON-MANIFOLD EKF IS STARTING
=======================================
ESTIMATOR PARAMETERS:
- use_fej: 0
- use_imuavg: 1
- use_rk4int: 1
- do_calib_lidar_timeoffset?: 0
- max_clone_size: 2
- do_calib_extrinsic?: 1
- rot_x_noise: 0.100000
- rot_y_noise: 0.100000
- rot_z_noise: 0.100000
- trans_x_noise: 0.500000
- trans_y_noise: 0.500000
- trans_z_noise: 0.500000
- time_offset_noise: 0.010000
- init_window_time: 0.50
- init_imu_thresh: 0.25
NOISE PARAMETERS:
- gyroscope_noise white noise: 0.010000
- accelerometer_noise white noise: 0.10000
- gyroscope_random_walk noise: 0.0000200
- accelerometer_random_walk noise: 0.0010000
Updater Estimator Feats:
- chi2 multiplier: 1
- Noise translation: 0.100000
- Noise rotation: 0.100000
- Do chi2 check during update: 0
STATE PARAMETERS:
- gravity: 0.000, 0.000, 9.810
- calib_lidarimu_dt: 0.0000
lidar_imu_extrinsic(0:3):
0 0 0 1
lidar_imu_extrinsic(4:6):
0 0 0
LIDAR Odometry PARAMETERS:
- ndtResolution: 0.250
Rot_cov
0.01 0 0
0 0.01 0
0 0 0.01
Trans_cov
0.25 0 0
0 0.25 0
0 0 0.25
[ INFO] [1656905314.726494241]: ROS BAG PATH is: /home/catkin_ws/src/linkalibr/bagfile/2022-05-31-20-08-31.bag
[ INFO] [1656905314.727888686]: bag start: 0
[ INFO] [1656905314.727924370]: bag duration: -1
[ INFO] [1656905315.629709693]: Time start = 1.654e+09
[ INFO] [1656905315.629738526]: Time end = 1.654e+09
Propagator::select_IMU_readings(): No IMU measurements.
Propagator::select_imu_readings(): No IMU measurement to propgate with (0 of 2)
Propagator::select_imu_readings(): No IMU measurements to propagate with (1 of 2).
[ INFO] [1656905315.638317953]: No of imu measurements: 3
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings
[ INFO] [1656905315.641302358]: Input point cloud size : 0
[ INFO] [1656905315.641367257]: Lidar scan no: 0
[ INFO] [1656905315.641508813]: No of lodom: 0
[ INFO] [1656905315.658680912]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings
[ INFO] [1656905315.661874924]: Input point cloud size : 0
[ INFO] [1656905315.661954548]: Lidar scan no: 1
[ INFO] [1656905315.662017536]: No of lodom: 0
[ INFO] [1656905315.684441031]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings
[ INFO] [1656905315.685750518]: Input point cloud size : 0
[ INFO] [1656905315.685786736]: Lidar scan no: 2
[ INFO] [1656905315.685885913]: No of lodom: 0
[ INFO] [1656905315.708131728]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings
[ INFO] [1656905315.708642030]: Input point cloud size : 0
[ INFO] [1656905315.708664122]: Lidar scan no: 3
[ INFO] [1656905315.708689699]: No of lodom: 0
[ INFO] [1656905315.725856027]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings
[ INFO] [1656905315.726210398]: Input point cloud size : 0
[ INFO] [1656905315.726225196]: Lidar scan no: 4
[ INFO] [1656905315.726263737]: No of lodom: 0
[ INFO] [1656905315.742937522]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0015 < 0.2500
[ INFO] [1656905315.743252049]: Input point cloud size : 0
[ INFO] [1656905315.743264439]: Lidar scan no: 5
[ INFO] [1656905315.743279103]: No of lodom: 0
[ INFO] [1656905315.761795155]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0012 < 0.2500
[ INFO] [1656905315.762113598]: Input point cloud size : 0
[ INFO] [1656905315.762127028]: Lidar scan no: 6
[ INFO] [1656905315.762145174]: No of lodom: 0
[ INFO] [1656905315.781754097]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0010 < 0.2500
[ INFO] [1656905315.782099425]: Input point cloud size : 0
[ INFO] [1656905315.782111453]: Lidar scan no: 7
[ INFO] [1656905315.782161995]: No of lodom: 0
[ INFO] [1656905315.835650958]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0009 < 0.2500
[ INFO] [1656905315.836178220]: Input point cloud size : 0
[ INFO] [1656905315.836199715]: Lidar scan no: 8
[ INFO] [1656905315.836225280]: No of lodom: 0
[ INFO] [1656905315.861863893]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905315.862339532]: Input point cloud size : 0
[ INFO] [1656905315.862379562]: Lidar scan no: 9
[ INFO] [1656905315.862397602]: No of lodom: 0
[ INFO] [1656905315.887346669]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905315.888047651]: Input point cloud size : 0
[ INFO] [1656905315.888066133]: Lidar scan no: 10
[ INFO] [1656905315.888084162]: No of lodom: 0
[ INFO] [1656905315.914224734]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905315.914664874]: Input point cloud size : 0
[ INFO] [1656905315.914692340]: Lidar scan no: 11
[ INFO] [1656905315.914710497]: No of lodom: 0
[ INFO] [1656905315.943755968]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905315.944239575]: Input point cloud size : 0
[ INFO] [1656905315.944267568]: Lidar scan no: 12
[ INFO] [1656905315.944284792]: No of lodom: 0
[ INFO] [1656905315.974399044]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905315.974970334]: Input point cloud size : 0
[ INFO] [1656905315.974996712]: Lidar scan no: 13
[ INFO] [1656905315.975028849]: No of lodom: 0
[ INFO] [1656905316.005782140]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905316.006211191]: Input point cloud size : 0
[ INFO] [1656905316.006226119]: Lidar scan no: 14
[ INFO] [1656905316.006277475]: No of lodom: 0
[ INFO] [1656905316.050017370]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905316.050484684]: Input point cloud size : 0
[ INFO] [1656905316.050523066]: Lidar scan no: 15
[ INFO] [1656905316.050539218]: No of lodom: 0
[ INFO] [1656905316.096254468]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.096723616]: Input point cloud size : 0
[ INFO] [1656905316.096764255]: Lidar scan no: 16
[ INFO] [1656905316.096779189]: No of lodom: 0
[ INFO] [1656905316.144096420]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905316.144538680]: Input point cloud size : 0
[ INFO] [1656905316.144550018]: Lidar scan no: 17
[ INFO] [1656905316.144582841]: No of lodom: 0
[ INFO] [1656905316.183116916]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500
[ INFO] [1656905316.183587407]: Input point cloud size : 0
[ INFO] [1656905316.183601362]: Lidar scan no: 18
[ INFO] [1656905316.183631155]: No of lodom: 0
[ INFO] [1656905316.223758893]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.224273936]: Input point cloud size : 0
[ INFO] [1656905316.224314698]: Lidar scan no: 19
[ INFO] [1656905316.224331906]: No of lodom: 0
[ INFO] [1656905316.266117347]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.266645468]: Input point cloud size : 0
[ INFO] [1656905316.266660097]: Lidar scan no: 20
[ INFO] [1656905316.266678427]: No of lodom: 0
[ INFO] [1656905316.309554409]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.310040867]: Input point cloud size : 0
[ INFO] [1656905316.310080100]: Lidar scan no: 21
[ INFO] [1656905316.310125413]: No of lodom: 0
[ INFO] [1656905316.357894729]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.358429064]: Input point cloud size : 0
[ INFO] [1656905316.358441382]: Lidar scan no: 22
[ INFO] [1656905316.358518605]: No of lodom: 0
[ INFO] [1656905316.406761884]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.407310807]: Input point cloud size : 0
[ INFO] [1656905316.407321980]: Lidar scan no: 23
[ INFO] [1656905316.407362975]: No of lodom: 0
[ INFO] [1656905316.459818907]: No of imu measurements: 41
[InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500
[ INFO] [1656905316.460330329]: Input point cloud size : 0
[ INFO] [1656905316.460355809]: Lidar scan no: 24
[ INFO] [1656905316.460484992]: No of lodom: 0
[ INFO] [1656905316.510322219]: No of imu measurements: 40
[InertialInitializer::initialize_with_imu] Initialization done!!!!
terminate called after throwing an instance of 'pcl::IsNotDenseException'
what(): : Can't use 2D indexing with a unorganized point cloud
================================================================================REQUIRED process [ros_test_node-1] has died!
process has died [pid 289, exit code -6, cmd /home/catkin_ws/devel/lib/linkalibr/ros_test_node __name:=ros_test_node __log:=/root/.ros/log/e4b51258-f792-11ec-b3fc-3497f6927eaa/ros_test_node-1.log].
log file: /root/.ros/log/e4b51258-f792-11ec-b3fc-3497f6927eaa/ros_test_node-1*.log
Initiating shutdown!
================================================================================
[ros_test_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
I put in the initial value I_T_L_init.txt
and I matched all the paths with my custom dataset and executed it.
I use Velodyne VLP 16 and Bosch BMI055(built-in IMU on realsense D435i).
The problem is I couldn't get LiDAR odometry with Velodyne VLP 16.
I'd appreciate your help.
Thanks,
@Taeyoung96 I encountered the same problem. How did you solve it?
@huanghqc
Hi, I haven't solved it yet. :cry:
@huanghqc 嗨,我还没有解决它。😢
@Taeyoung96 你解决了吗
@huanghqc I didn't solve it, so I use another tool
@huanghqc
Yes, You are right. The translation vector has not been found accurately yet. :cry:
@Taeyoung96 have you able to find translation vector?
@arjunskumar Unfortunately, In the case of the translation vector, I got it by manual.
I looked directly at the sensor attached to the robot and calculated for it.
@Taeyoung96 thanks, for the rotation matrix, you used which package?
@arjunskumar I mentioned above, I use this tool! :smile:
@SubMishMar It's attached to the husky robot, and I couldn't show the robot's setup right now.cry Thanks for your help.
BTW, When I run the
roslaunch linkalibr linkalibr_ouster_vectornav.launch
with my own dataset. I got this error.SUMMARY ======== CLEAR PARAMETERS * /ros_test_node/ PARAMETERS * /ros_test_node/accelerometer_noise_density: 0.1 * /ros_test_node/accelerometer_random_walk: 0.001 * /ros_test_node/bag_durr: -1 * /ros_test_node/bag_start: 0.0 * /ros_test_node/calib_extrinsics: True * /ros_test_node/calib_lidar_timeoffset: False * /ros_test_node/calib_lidarimu_dt: 0.0 * /ros_test_node/calibration_result_velodyne_filename: /home/catkin_ws/s... * /ros_test_node/deskewed_scan_folder_name: /home/catkin_ws/s... * /ros_test_node/do_planar_update: False * /ros_test_node/do_undistortion: True * /ros_test_node/downsample_for_mapping: True * /ros_test_node/gen_data_for_optimization: False * /ros_test_node/gravity: [0.0, 0.0, 9.81] * /ros_test_node/gyroscope_noise_density: 0.01 * /ros_test_node/gyroscope_random_walk: 2e-05 * /ros_test_node/imu_measurements_filename: /home/catkin_ws/s... * /ros_test_node/imu_trajectory_filename: /home/catkin_ws/s... * /ros_test_node/init_calibration_result_velodyne_filename: /home/catkin_ws/s... * /ros_test_node/init_imu_thresh: 0.25 * /ros_test_node/init_window_time: 0.5 * /ros_test_node/lidar_trajectory_filename: /home/catkin_ws/s... * /ros_test_node/limit_map_size: True * /ros_test_node/lin_bias_filename: /home/catkin_ws/s... * /ros_test_node/lin_calib_dt_filename: /home/catkin_ws/s... * /ros_test_node/lin_calib_extrinsic_filename: /home/catkin_ws/s... * /ros_test_node/lin_trajectory_filename: /home/catkin_ws/s... * /ros_test_node/lin_velocity_filename: /home/catkin_ws/s... * /ros_test_node/lo_trajectory_filename: /home/catkin_ws/s... * /ros_test_node/max_clones: 2 * /ros_test_node/ndt_resolution: 0.25 * /ros_test_node/no_of_scans_for_map: 200 * /ros_test_node/path_bag: /home/catkin_ws/s... * /ros_test_node/planar_points_deskewed_map_filename: /home/catkin_ws/s... * /ros_test_node/planar_points_raw_scans_filename: /home/catkin_ws/s... * /ros_test_node/plane_params_filename: /home/catkin_ws/s... * /ros_test_node/raw_scan_folder_name: /home/catkin_ws/s... * /ros_test_node/state_init_rx_noise: 0.1 * /ros_test_node/state_init_ry_noise: 0.1 * /ros_test_node/state_init_rz_noise: 0.1 * /ros_test_node/state_init_timeoffset_noise: 0.01 * /ros_test_node/state_init_x_noise: 0.5 * /ros_test_node/state_init_y_noise: 0.5 * /ros_test_node/state_init_z_noise: 0.5 * /ros_test_node/surfel_map_filename: /home/catkin_ws/s... * /ros_test_node/topic_imu: /camera/imu * /ros_test_node/topic_lidar: /velodyne_points * /ros_test_node/updater_chi2_multiplier: 1 * /ros_test_node/updater_do_chi2_check: False * /ros_test_node/updater_rotation_noise: 0.1 * /ros_test_node/updater_translation_noise: 0.1 * /ros_test_node/use_fej: False * /ros_test_node/use_imuavg: True * /ros_test_node/use_rk4int: True * /ros_test_node/view_surfel_map: True * /rosdistro: melodic * /rosversion: 1.14.13 NODES / ros_test_node (linkalibr/ros_test_node) ROS_MASTER_URI=http://localhost:11311 WARNING: Package name "imuPacket" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[ros_test_node-1]: started with pid [289] [ INFO] [1656905314.652394785]: Reading General Estimator Parameters [ INFO] [1656905314.671143998]: Reading Filter Initialization Parameters [ INFO] [1656905314.674103560]: Reading IMU Noise Parameters [ INFO] [1656905314.679096047]: Reading Updater Chi2 Multiplier [ INFO] [1656905314.681942442]: Reading Rotation and Noise Update [ INFO] [1656905314.684720351]: Reading Gravity [ INFO] [1656905314.686208364]: Reading initial Timeoffset [ INFO] [1656905314.687658026]: Reading NDT Resolution [ INFO] [1656905314.689400570]: Reading Undistortion Flag [ INFO] [1656905314.690871117]: Reading lin output file names [ INFO] [1656905314.698841100]: Reading lo output trajectory file name [ INFO] [1656905314.700299175]: Reading the filename to read the initial calibration result to [ INFO] [1656905314.701118070]: Reading initial I_T_L [ INFO] [1656905314.701166720]: Reading the filename to write the final calibration result to [ INFO] [1656905314.701882422]: Reading the folder name to write the raw and deskewed scan ======================================= Lidar Inertial Calibration ON-MANIFOLD EKF IS STARTING ======================================= ESTIMATOR PARAMETERS: - use_fej: 0 - use_imuavg: 1 - use_rk4int: 1 - do_calib_lidar_timeoffset?: 0 - max_clone_size: 2 - do_calib_extrinsic?: 1 - rot_x_noise: 0.100000 - rot_y_noise: 0.100000 - rot_z_noise: 0.100000 - trans_x_noise: 0.500000 - trans_y_noise: 0.500000 - trans_z_noise: 0.500000 - time_offset_noise: 0.010000 - init_window_time: 0.50 - init_imu_thresh: 0.25 NOISE PARAMETERS: - gyroscope_noise white noise: 0.010000 - accelerometer_noise white noise: 0.10000 - gyroscope_random_walk noise: 0.0000200 - accelerometer_random_walk noise: 0.0010000 Updater Estimator Feats: - chi2 multiplier: 1 - Noise translation: 0.100000 - Noise rotation: 0.100000 - Do chi2 check during update: 0 STATE PARAMETERS: - gravity: 0.000, 0.000, 9.810 - calib_lidarimu_dt: 0.0000 lidar_imu_extrinsic(0:3): 0 0 0 1 lidar_imu_extrinsic(4:6): 0 0 0 LIDAR Odometry PARAMETERS: - ndtResolution: 0.250 Rot_cov 0.01 0 0 0 0.01 0 0 0 0.01 Trans_cov 0.25 0 0 0 0.25 0 0 0 0.25 [ INFO] [1656905314.726494241]: ROS BAG PATH is: /home/catkin_ws/src/linkalibr/bagfile/2022-05-31-20-08-31.bag [ INFO] [1656905314.727888686]: bag start: 0 [ INFO] [1656905314.727924370]: bag duration: -1 [ INFO] [1656905315.629709693]: Time start = 1.654e+09 [ INFO] [1656905315.629738526]: Time end = 1.654e+09 Propagator::select_IMU_readings(): No IMU measurements. Propagator::select_imu_readings(): No IMU measurement to propgate with (0 of 2) Propagator::select_imu_readings(): No IMU measurements to propagate with (1 of 2). [ INFO] [1656905315.638317953]: No of imu measurements: 3 [InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings [ INFO] [1656905315.641302358]: Input point cloud size : 0 [ INFO] [1656905315.641367257]: Lidar scan no: 0 [ INFO] [1656905315.641508813]: No of lodom: 0 [ INFO] [1656905315.658680912]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings [ INFO] [1656905315.661874924]: Input point cloud size : 0 [ INFO] [1656905315.661954548]: Lidar scan no: 1 [ INFO] [1656905315.662017536]: No of lodom: 0 [ INFO] [1656905315.684441031]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings [ INFO] [1656905315.685750518]: Input point cloud size : 0 [ INFO] [1656905315.685786736]: Lidar scan no: 2 [ INFO] [1656905315.685885913]: No of lodom: 0 [ INFO] [1656905315.708131728]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings [ INFO] [1656905315.708642030]: Input point cloud size : 0 [ INFO] [1656905315.708664122]: Lidar scan no: 3 [ INFO] [1656905315.708689699]: No of lodom: 0 [ INFO] [1656905315.725856027]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings [ INFO] [1656905315.726210398]: Input point cloud size : 0 [ INFO] [1656905315.726225196]: Lidar scan no: 4 [ INFO] [1656905315.726263737]: No of lodom: 0 [ INFO] [1656905315.742937522]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0015 < 0.2500 [ INFO] [1656905315.743252049]: Input point cloud size : 0 [ INFO] [1656905315.743264439]: Lidar scan no: 5 [ INFO] [1656905315.743279103]: No of lodom: 0 [ INFO] [1656905315.761795155]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0012 < 0.2500 [ INFO] [1656905315.762113598]: Input point cloud size : 0 [ INFO] [1656905315.762127028]: Lidar scan no: 6 [ INFO] [1656905315.762145174]: No of lodom: 0 [ INFO] [1656905315.781754097]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0010 < 0.2500 [ INFO] [1656905315.782099425]: Input point cloud size : 0 [ INFO] [1656905315.782111453]: Lidar scan no: 7 [ INFO] [1656905315.782161995]: No of lodom: 0 [ INFO] [1656905315.835650958]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0009 < 0.2500 [ INFO] [1656905315.836178220]: Input point cloud size : 0 [ INFO] [1656905315.836199715]: Lidar scan no: 8 [ INFO] [1656905315.836225280]: No of lodom: 0 [ INFO] [1656905315.861863893]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905315.862339532]: Input point cloud size : 0 [ INFO] [1656905315.862379562]: Lidar scan no: 9 [ INFO] [1656905315.862397602]: No of lodom: 0 [ INFO] [1656905315.887346669]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905315.888047651]: Input point cloud size : 0 [ INFO] [1656905315.888066133]: Lidar scan no: 10 [ INFO] [1656905315.888084162]: No of lodom: 0 [ INFO] [1656905315.914224734]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905315.914664874]: Input point cloud size : 0 [ INFO] [1656905315.914692340]: Lidar scan no: 11 [ INFO] [1656905315.914710497]: No of lodom: 0 [ INFO] [1656905315.943755968]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905315.944239575]: Input point cloud size : 0 [ INFO] [1656905315.944267568]: Lidar scan no: 12 [ INFO] [1656905315.944284792]: No of lodom: 0 [ INFO] [1656905315.974399044]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905315.974970334]: Input point cloud size : 0 [ INFO] [1656905315.974996712]: Lidar scan no: 13 [ INFO] [1656905315.975028849]: No of lodom: 0 [ INFO] [1656905316.005782140]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905316.006211191]: Input point cloud size : 0 [ INFO] [1656905316.006226119]: Lidar scan no: 14 [ INFO] [1656905316.006277475]: No of lodom: 0 [ INFO] [1656905316.050017370]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905316.050484684]: Input point cloud size : 0 [ INFO] [1656905316.050523066]: Lidar scan no: 15 [ INFO] [1656905316.050539218]: No of lodom: 0 [ INFO] [1656905316.096254468]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.096723616]: Input point cloud size : 0 [ INFO] [1656905316.096764255]: Lidar scan no: 16 [ INFO] [1656905316.096779189]: No of lodom: 0 [ INFO] [1656905316.144096420]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905316.144538680]: Input point cloud size : 0 [ INFO] [1656905316.144550018]: Lidar scan no: 17 [ INFO] [1656905316.144582841]: No of lodom: 0 [ INFO] [1656905316.183116916]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0008 < 0.2500 [ INFO] [1656905316.183587407]: Input point cloud size : 0 [ INFO] [1656905316.183601362]: Lidar scan no: 18 [ INFO] [1656905316.183631155]: No of lodom: 0 [ INFO] [1656905316.223758893]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.224273936]: Input point cloud size : 0 [ INFO] [1656905316.224314698]: Lidar scan no: 19 [ INFO] [1656905316.224331906]: No of lodom: 0 [ INFO] [1656905316.266117347]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.266645468]: Input point cloud size : 0 [ INFO] [1656905316.266660097]: Lidar scan no: 20 [ INFO] [1656905316.266678427]: No of lodom: 0 [ INFO] [1656905316.309554409]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.310040867]: Input point cloud size : 0 [ INFO] [1656905316.310080100]: Lidar scan no: 21 [ INFO] [1656905316.310125413]: No of lodom: 0 [ INFO] [1656905316.357894729]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.358429064]: Input point cloud size : 0 [ INFO] [1656905316.358441382]: Lidar scan no: 22 [ INFO] [1656905316.358518605]: No of lodom: 0 [ INFO] [1656905316.406761884]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.407310807]: Input point cloud size : 0 [ INFO] [1656905316.407321980]: Lidar scan no: 23 [ INFO] [1656905316.407362975]: No of lodom: 0 [ INFO] [1656905316.459818907]: No of imu measurements: 41 [InertialInitializer::initialize_with_imu] Not enough IMU excitation, below threshold 0.0007 < 0.2500 [ INFO] [1656905316.460330329]: Input point cloud size : 0 [ INFO] [1656905316.460355809]: Lidar scan no: 24 [ INFO] [1656905316.460484992]: No of lodom: 0 [ INFO] [1656905316.510322219]: No of imu measurements: 40 [InertialInitializer::initialize_with_imu] Initialization done!!!! terminate called after throwing an instance of 'pcl::IsNotDenseException' what(): : Can't use 2D indexing with a unorganized point cloud ================================================================================REQUIRED process [ros_test_node-1] has died! process has died [pid 289, exit code -6, cmd /home/catkin_ws/devel/lib/linkalibr/ros_test_node __name:=ros_test_node __log:=/root/.ros/log/e4b51258-f792-11ec-b3fc-3497f6927eaa/ros_test_node-1.log]. log file: /root/.ros/log/e4b51258-f792-11ec-b3fc-3497f6927eaa/ros_test_node-1*.log Initiating shutdown! ================================================================================ [ros_test_node-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
I put in the initial value
I_T_L_init.txt
and I matched all the paths with my custom dataset and executed it. I use Velodyne VLP 16 and Bosch BMI055(built-in IMU on realsense D435i). The problem is I couldn't get LiDAR odometry with Velodyne VLP 16. I'd appreciate your help.Thanks,
I am having similar problem with Velodyne 16
If you have any solution... please share
[ros_test_node-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
@SubMishMar
Thanks for your great work.
I have a question.
I want to know the extrinsic calibration of Velodyne VLP 16 and Bosch BMI055(built-in IMU on realsense D435i).
Since it is attached to the ground robot, so it is difficult to obtain the same motion as the Data collection procedure video.
Can I use this tool to get an extrinsic parameter with the dataset I got from moving the Ground robot?
Thanks,