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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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In your paper, how do you get formula 3 from formula 2？ #8

Open 772894624 opened 2 years ago

772894624 commented 2 years ago

Hi~ First of all, thank you for your contribution. When I read your paper, I didn't understand how to get formula 3 from formula 2. Can you tell me? thanks!

SubMishMar commented 2 years ago

Oh there's a missing citation, but it's fairly standard. You may check the 5th page of this paper: https://journals.sagepub.com/doi/pdf/10.1177/027836499501400301

772894624 commented 2 years ago

Thanks，It solves my doubts. When I use my own sensor(VLP16 LIDAR) for calibration, the program prompts the following information:

[ INFO] [1646294431.779268199]: bag start: 0
[ INFO] [1646294431.779283115]: bag duration: -1
[ INFO] [1646294431.834946031]: Time start = 1.64616e+09
[ INFO] [1646294431.834979136]: Time end = 1.64616e+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] [1646294431.840939246]: No of imu measurements: 6
Failed to find match for field 'ring'.
Failed to find match for field 't'.
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings 
[ INFO] [1646294431.841472401]: Lidar scan no: 0
[ INFO] [1646294431.841505614]: No of lodom: 0
[ INFO] [1646294431.842859383]: No of imu measurements: 41
Failed to find match for field 'ring'.
Failed to find match for field 't'.
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings

What causes this problem? How to solve this problem? thank you!

xzh313 commented 2 years ago

Thanks，It solves my doubts. When I use my own sensor(VLP16 LIDAR) for calibration, the program prompts the following information:

[ INFO] [1646294431.779268199]: bag start: 0
[ INFO] [1646294431.779283115]: bag duration: -1
[ INFO] [1646294431.834946031]: Time start = 1.64616e+09
[ INFO] [1646294431.834979136]: Time end = 1.64616e+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] [1646294431.840939246]: No of imu measurements: 6
Failed to find match for field 'ring'.
Failed to find match for field 't'.
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings 
[ INFO] [1646294431.841472401]: Lidar scan no: 0
[ INFO] [1646294431.841505614]: No of lodom: 0
[ INFO] [1646294431.842859383]: No of imu measurements: 41
Failed to find match for field 'ring'.
Failed to find match for field 't'.
[InertialInitializer::initialize_with_imu] One of the windows is empty, not enough readings

What causes this problem? How to solve this problem? thank you!

have you solved this problem?I meet this problem too @772894624

772894624 commented 2 years ago

I I didn't solve the problem. Because I use VLP16, I use other algorithms.@xzh313

xzh313 commented 2 years ago

Which algorithms did you use? Can you share a link to github? How about your final result for your matrix？THANKS!

------------------ 原始邮件 ------------------ 发件人: "unmannedlab/imu_lidar_calibration" @.>; 发送时间: 2022年11月18日(星期五) 晚上9:31 @.>; @.**@.>; 主题: Re: [unmannedlab/imu_lidar_calibration] In your paper, how do you get formula 3 from formula 2？ (Issue #8)

I I didn't solve the problem. Because I use VLP16, I use other @.***

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