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ethz-asl
IMU-Camera Calibration RuntimeError: Optimization failed!
I have tried increasing the timeOffsetPadding, but it does not work. Is there any other solution？ Thank you very much！
Likely your timestamps are inaccurate or in different clock frames. I recommend inspecting these. You can also provide a bag for others to use to debug.
On Tue, Jun 14, 2022 at 3:21 AM xyflzyn @.***> wrote:
[image: image] https://user-images.githubusercontent.com/96157991/173516249-d27bbeb9-2947-40e2-ac92-b4ea4187d3ae.png I have tried increasing the timeOffsetPadding, but it does not work. Is there any other solution？ Thank you very much！
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@goldbattle Hello, thank you very much for your answer. I have done time stamp synchronization before and calibrated a result, but this result seems not quite right. report-imucam-camera_imu0606_20.pdf And then I increased the speed of movement at the time of calibration and I had this problem.
Looking at it, it seems that the IMU isn't giving any data? Seems to all be zero? Is your imu topic scaled properly with gravity inside of it?
@goldbattle This is the imU data we recorded. Could you please check if there is any problem？ imu0.csv
Can you provide the whole bag that has the issue? The report you sent looks reasonable along with the IMU csv. Additionally, I would check that you are still able to extract when you have more dynamic motion in each frame with the --show-extractions flag. Hope this helps you debug your system.
@goldbattle Thank you very much for your help, the whole bag is too large to upload to Github. Could you please give me your email adress? I'll send it to you through it.
@goldbattle Hello, due to the format and size reasons, I compressed the package into five small packages, please decompress in the same folder decompression, please delete each file name suffix ".zip" before decompression, can be to the complete package. yaml.zip is the configuration file that needs to be used for calibration, including the parameters of the IMU, the parameters of the camera, and the parameters of the calibration board. Thank you very much！
Hi, I was unable to extract your image zip files, feel free to upload the rosbag to a better place. Looking at your YAMLs, your IMU is only 50hz? This might also be source of error (personally I have not used an IMU that low...). Additionally please provide the commands you are running and the result pdf for the static calibration. What reprojection error are you seeing?
Hi, I was unable to extract your image zip files, feel free to upload the rosbag to a better place. Looking at your YAMLs, your IMU is only 50hz? This might also be source of error (personally I have not used an IMU that low...). Additionally please provide the commands you are running and the result pdf for the static calibration. What reprojection error are you seeing?
Thank you for your help. The frequency of IMU we used is indeed 50Hz. This is the PDF file we calibrated. In addition, do you have any good way to send the rosBAG file to you? @goldbattle report-imucam-image0620.pdf
Feel free to reopen with the bag and commands if you have them. This seems to be an IMU problem from your example result file (ensure you are using the latest master when you try again).