Fangcheng Zhu

> 100 你觉得标定出来的平移有问题，具体而言和真值差了多少呢？

> 还有请问一下，能否在代码中给定外参的平移部分，只标定外参的旋转部分？ 旋转的标定本就与平移无关，具体请参考论文公式。

> 我又重新测试了一下，发现在开始online refinement的瞬间，rviz总是会卡顿一下，然后位姿马上会有漂移，请问这是什么情况呢？有解决的办法吗？ 陀螺仪和加速度计的单位正确吗？应该为rad/s和m/s^2。类似问题也可能导致refinement漂移，参考#43

> Hello, > > Thank you for sharing your appreciation for the work. I've followed many of your videos to compare SLAM algorithms and need your help in selecting a...

> common: lid_topic: "/livox/lidar" imu_topic: "/mavros/imu/data_raw" > > preprocess: lidar_type: 1 # Livox series LiDAR feature_extract_en: false scan_line: 6 blind: 1 > > initialization: cut_frame_num: 5 # must be positive...

> After using Livox_ros_lidar modified by your team. "Time Lag IMU to LiDAR " seems to be okay while the result is still so bad. > > result: [Final Result]...

> the I recommend verifying the output data of your external IMU, to see if the acceleration and gyroscope are normal. The calibrated gyroscope bias seems abnormal.

> It seems work fine as usual until X Y Z get 100% to online refinement. And then the lidar do that confusing rotation > > > > After using...

The angular velocity of your bag is too large, I guess it's because the unit is degree/s but our code needs rad/s. By converting the input angular velocity to rad/s,...

首先你需要确保你的点云原始频率 * cut_frame_num 约等于 50；如果原始频率为10Hz，那么cut_frame_num可以设置为5。标定结束太快的可能原因之一就是 “点云原始频率 * cut_frame_num” 数值太大，产生标定数据的速度太快。 将data_accumulate_length更改为更大的值可以延长初始化的时间，比如1000~1500。