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unmannedlab / imu_lidar_calibration

Target-free Extrinsic Calibration of a 3D Lidar and an IMU
BSD 2-Clause "Simplified" License
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Wrong calibration result with my own data. #5

Open zfc-zfc opened 2 years ago

zfc-zfc commented 2 years ago

Hi, I tried your method with my data collected using Hesai PandarXT(32 line) and an external IMU. The data is synchronized, but the calibration result is wrong (The ground truth should be (-0.12, 0, 0.15), (0,0,-180) ), shown as follows:

Time taken for deskewing: 2.45107 [s] [Propagation] successfully propagated [Update] successful updateScan2Scan [Update] successful updateScan2GlobalMap [ INFO] [1640251233.514128561]: Lidar scan no: 557 [ INFO] [1640251233.514159010]: No of lodom: 498 [ INFO] [1640251233.514329557]: Reached end of bag [ INFO] [1640251233.514342060]: Kalman Filtering took : 1295.45 [s] Writing KF calibration result to: /home/dji/workspace/Texas_LICalib_ws/src/imu_lidar_calibration/linkalibr/data/I_T_L_final.txt [ INFO] [1640251233.514537621]: Translation [in m]: -0.113965 -0.195481 -1.0932 [ INFO] [1640251233.514552354]: Euler Angles [in deg]: 174.288 179.51 -178.068

And I tested the same bag twice, the result are quite different. Could you please tell me the reason? Thx

SubMishMar commented 2 years ago

May be reading https://arxiv.org/abs/2104.12280 will provide more insights.

Generic advice will be calibrate the IMU intrinsics, and most importantly exhibit motion which sufficiently excites all DoFs while collecting calibration data. I have not tested this particular LiDAR but I am not sure why scan deskewing is taking 2.5 seconds even though it's a 32 channel lidar.

zfc-zfc commented 2 years ago

Thanks, I have carefully read your paper and I cited your good work in my paper. Maybe I can send you the test data which might be helpful to find out the reason of large time consumption of scan deskwing. Since lots of LiDARs provide unorganized pointcloud (the height is always 1), it would be great if your code support unorganized input pointcloud. Thank you so much.

liang0724s commented 2 years ago

@zfc-zfc Hi, did you meet the node(ros_calib_init) died when run the command "roslaunch linkalibr ros_calib_init.launch"?

started roslaunch server http://minzhus:45557/ SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / ros_calib_init (linkalibr/ros_calib_init) ros_calib_init_optimizer (linkalibr/ros_calib_init_optimizer)

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_calib_init-1]: started with pid [21421] process[ros_calib_init_optimizer-2]: started with pid [21422] [ INFO] [1641893388.759679507]: Loaded accelerometer_noise_density: 0.094666 [ INFO] [1641893388.759999244]: Loaded gyroscope_noise_density: 6.243e-05 [ INFO] [1641893388.760289321]: Loaded max_frames: 550 [ INFO] [1641893388.760535149]: Loaded calibration_result_filename: /home/minzhus/receive/Lidar_imu_calib/TAMU/catkin_ws_ov/src/imu_lidar_calibration/linkalibr/data/I_T_L_init.txt [ WARN] [1641893388.760557122]: [calibInitOptimizer::calibInitOptimizer] calibInitOptimizer constructor *================================================================================REQUIRED process [ros_calib_init-1] has died! process has died [pid 21421, exit code -11, cmd /home/minzhus/receive/Lidar_imu_calib/TAMU/catkin_ws_ov/devel/lib/linkalibr/ros_calib_init name:=ros_calib_init log:=/home/minzhus/.ros/log/d051f658-72ba-11ec-a667-6609fd46ba79/ros_calib_init-1.log]. log file: /home/minzhus/.ros/log/d051f658-72ba-11ec-a667-6609fd46ba79/ros_calib_init-1.log Initiating shutdown! ================================================================================** [ros_calib_init_optimizer-2] killing on exit [ros_calib_init-1] killing on exit