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

[772894624]

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]

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]

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]

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]

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

[xzh313]

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

…

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