lidar_IMU_calib ceres fails to run well with imu data

I try to use my data with HDL32E and SBG Ellipse-A (6 axis). The only thing i change is data import and scan undistortion.

Everything is good before TrajectoryManager::trajInitFromSurfel ,include EstimateRotation() and undistortScanInMap with NDT odom pose.I got a nice map but not sharp enough.

Screenshot from 2020-10-17 11-49-24

And i got 500 surfels,but when i added addGyroscopeMeasurementst() or addAccelerometerMeasurement() into ceres by TrajectoryManager::trajInitFromSurfel(),the map would mess up(laser pose was totally calculate by Bspline, addSurfMeasurement is ok). And ceres log like following.

WARNING: Logging before InitGoogleLogging() is written to STDERR W20201017 20:57:45.519047 11140 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.

Screenshot from 2020-10-17 11-59-44

Is it any problem with my imu data? and how can i solve it?

Oct 17 '20 12:10 petersong1905

even i got a point cloud map with Plane type :961 335 198; Plane number: 1494 in first associating , the problem still Screenshot from 2020-10-21 14-26-05

Oct 21 '20 06:10 petersong1905

even i got a point cloud map with Plane type :961 335 198; Plane number: 1494 in first associating , the problem still

I always have a mistake at this step:DataAssociation fails. plane type: 0 0 0;plane number 0.Do you know how to solve this problem？

Nov 12 '21 07:11 Cracks-ll

I try to use my data with HDL32E and SBG Ellipse-A (6 axis). The only thing i change is data import and scan undistortion.

Everything is good before TrajectoryManager::trajInitFromSurfel ,include EstimateRotation() and undistortScanInMap with NDT odom pose.I got a nice map but not sharp enough.

And i got 500 surfels,but when i added addGyroscopeMeasurementst() or addAccelerometerMeasurement() into ceres by TrajectoryManager::trajInitFromSurfel(),the map would mess up(laser pose was totally calculate by Bspline, addSurfMeasurement is ok). And ceres log like following.

WARNING: Logging before InitGoogleLogging() is written to STDERR W20201017 20:57:45.519047 11140 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.

Is it any problem with my imu data? and how can i solve it?

I always have a mistake at this step:DataAssociation fails. plane type: 0 0 0;plane number 0.Do you know how to solve this problem？

Nov 12 '21 07:11 Cracks-ll

我尝试将我的数据与HDL32E和SBG椭圆A（6轴）一起使用。我唯一改变的是数据导入和扫描取消失真。在 TrajectoryManager：：trajInitFromSurfel 之前，一切都很好，包括 EstimateRotation（）和 undistortScanInMap with NDT odom pose。我得到了一张漂亮的地图，但不够清晰。我得到了500个surels，但是当我添加GyroscopeMeasurementst（）或addAccelerometerMeasurement（）到Ceres通过TrajectoryManager：：trajInitFromSurfel（）时，地图会搞砸（激光姿势完全由Bspline计算，addSurfMeasurement是可以的）。谷神星的日志如下。 WARNING: Logging before InitGoogleLogging() is written to STDERR W20201017 20:57:45.519047 11140 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite. 我的 imu 数据有问题吗？我该如何解决它？

我在此步骤中总是有一个错误：数据关联失败。平面类型：0 0 0;平面编号 0.Do 你知道怎么解决这个问题吗？

即使我得到了一个点云图与在第一个关联，问题仍然存在Plane type :961 335 198; Plane number: 1494