SensorsCalibration icon indicating copy to clipboard operation
SensorsCalibration copied to clipboard
verified publisher icon PJLab-ADG

lidar2imu diverge

Open linwk20 opened this issue 3 years ago • 2 comments

Hi, Thanks for your sharing! I have used the lidar2imu tool, however, the result seems to diverge.

Ceres Solver Report: Iterations: 15, Initial cost: 2.748471e+03, Final cost: 2.717503e+03, Termination: CONVERGENCE

I have given it a proper initialization. What could be the possible other reason?

Thanks!

linwk20 avatar Sep 12 '22 17:09 linwk20

Hi, Thanks for your sharing! I have used the lidar2imu tool, however, the result seems to diverge.

Ceres Solver Report: Iterations: 15, Initial cost: 2.748471e+03, Final cost: 2.717503e+03, Termination: CONVERGENCE

I have given it a proper initialization. What could be the possible other reason?

Thanks!

You can pull the latest code and try again. It is better to have more surface features in the calibration environment.

xiaokn avatar Sep 13 '22 02:09 xiaokn

Hi, Thanks for your quick reply, I will try running the latest code. Besides, I wonder is there other built-in debug way? For example, can I visualize the diverging process or the surface feature's distribution? now I can only received feedback from terminal.

linwk20 avatar Sep 13 '22 08:09 linwk20