Odom is required for calibration

[mehditlili]

In the readme you write:

The raw log files have this format:

{  "timestamp": [949, 943101], 
   "readings": [ ...],  
   "theta": [ ... ], 
   "right": 0, 
   "left": 0, 
   "leftTimestamp": [ 949, 940807], 
   "rightTimestamp": [ 949, 942685] }

where:

• readings is the array of range-finder readings.
• theta is the direction of each reading.
• left and right are the encoder readings, in ticks.
• timestamp is a two-shorts UNIX timestamp of when the laser data was taken;
• leftTimestamp, rightTimestamp are the timestamps for when the
  the encoder data was taken.

(there are also other fields, not relevant for calibration)

However, when I start the calibration on files where there is no "odom" field defined, I get the following error:

./create_tuples.sh lidar_log.log.bz2 wheels_log.log.bz2 
version_id: d7239f45c6c9831c0b6bef855184f098
working_dir: working_dir_d7239f45c6c9831c0b6bef855184f098/
tuple_dir: tuples_d7239f45c6c9831c0b6bef855184f098/
Removing old file: ./lidar_log.log_stats
Removing old file: ./lidar_log.log
Removing old file: ./wheels_log.log
./create_tuples.sh: Uncompressing files...done.
./create_tuples.sh: Decimating file...
./create_tuples.sh: Scan Matcher... 
llsm2: :err: The 'odometry' field is set to NaN so I don't know how to get an initial guess. I usually use the difference in the odometry fields to obtain the initial guess.
sm2: :err:   laser_ref->odometry = ( nan mm,  nan mm,  nan deg) 
sm2: :err:   laser_sens->odometry = ( nan mm,  nan mm,  nan deg) 
sm2: :err:  I will quit it here. 

So I guess the odom field is also necessary?