关于运行作者提供VLP16_IMU.bag数据的问题？

[Frankzhao1997]

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非常感谢大佬提供宝贵的算法供大家学习，我下载作者提供的室内数据VLP16_IMU.bag，并在无界面的服务器上运行作者的代码，发现没有办法复现作者在论文中的效果。我按照说明用Docker搭好环境，并修改launch文件如下，配置文件使用如下

运行日志如下：root@datanode5:/home/catkin_ws# roslaunch lidar_imu_init velodyne.launch ... logging to /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/roslaunch-datanode5-200345.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.

started roslaunch server http://datanode5:45812/

SUMMARY

PARAMETERS

• /common/imu_topic: /imu/data
• /common/lid_topic: /velodyne_points
• /initialization/Rot_LI_cov: [5e-05, 5e-05, 5e...
• /initialization/Trans_LI_cov: [0.0001, 0.0001, ...
• /initialization/cut_frame_num: 4
• /initialization/data_accum_length: 800
• /initialization/mean_acc_norm: 9.81
• /initialization/online_refine_time: 15.0
• /initialization/orig_odom_freq: 10
• /laserMapping/cube_side_length: 1000.0
• /laserMapping/max_iteration: 5
• /laserMapping/point_filter_num: 3
• /mapping/acc_cov: 0.5
• /mapping/b_acc_cov: 0.0001
• /mapping/b_gyr_cov: 0.0001
• /mapping/det_range: 100.0
• /mapping/filter_size_map: 0.15
• /mapping/filter_size_surf: 0.05
• /mapping/gyr_cov: 0.5
• /pcd_save/interval: -1
• /pcd_save/pcd_save_en: False
• /preprocess/blind: 2
• /preprocess/feature_extract_en: False
• /preprocess/lidar_type: 2
• /preprocess/scan_line: 16 [Initialization] Rotation around Lidar X Axis: 100% [||||||||||||||||||||||||||||||] [Initialization] Rotation around Lidar Y Axis: 100% [||||||||||||||||||||||||||||||] [Initialization] Rotation around Lidar Z Axis: 100% [||||||||||||||||||||||||||||||] [Initialization] Data accumulation finished, Lidar IMU initialization begins.

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Max Cross-correlation: IMU lag wtr Lidar : 2 Total time delay (IMU wtr Lidar): -0.059745 s Using LIO: SUBTRACT this value from IMU timestamp or ADD this value to LiDAR timestamp.

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[Init Result] Rotation LiDAR to IMU = 2.929301 -2.845168 0.112880 deg [Init Result] Translation LiDAR to IMU = -0.054228 -0.093682 0.046291 m [Init Result] Time Lag IMU to LiDAR = -0.05974507 s [Init Result] Bias of Gyroscope = -0.002104 0.010956 -0.009085 rad/s [Init Result] Bias of Accelerometer = 0.010437 0.010519 -0.008968 m/s^2 [Init Result] Gravity in World Frame = -0.600746 -0.988083 -9.741606 m/s^2

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[Initialization] Lidar IMU initialization done. [TIMER] Batch optimization time consuming 247.060219 ms

[Refinement] Switch to LIO mode, online refinement begins. [Refinement] Online Refinement 100% [||||||||||||||||||||||||||||||]

[Final Result] Rotation LiDAR to IMU = -1.333450 -1.267352 -1.239466 deg [Final Result] Translation LiDAR to IMU = -0.087946 -0.068263 0.103764 m [Final Result] Time Lag IMU to LiDAR = -0.05974507 s [Final Result] Bias of Gyroscope = -0.000980 0.003935 -0.016914 rad/s [Final Result] Bias of Accelerometer = 0.019776 0.041073 0.061058 m/s^2 [Final Result] Gravity in World Frame = -0.501791 -0.879088 -9.733479 m/s^2

Initialization and refinement result is written to /home/catkin_ws/src/result/Initialization_result.txt [play_bag-2] process has finished cleanly log file: /root/.ros/log/0d940a88-3e6a-11ef-95d4-001b21be2e90/play_bag-2*.log 绘图时发现外参没有收敛，ACCXYZ都没有很好的同步，怎么调参数都没有办法复现论文中的效果，最好的效果是外参收敛到水平位置，但ACCXYZ没有同步，建图直接起飞。困扰我10多天了，请大佬给给出宝贵建议，我将不胜感激！