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APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
GNU General Public License v3.0
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imu's params overwritten #2

Closed narutojxl closed 4 years ago

narutojxl commented 4 years ago

Hi author @icameling,
The most details in paper are realized and encapsulated in modified Kontiki and lidar_surfel_point.h, Maybe i will take some more time to learn this Toolkit to better understand paper. Thanks for your this excellent work! :) In CalibParamManager ctor, acc, gyro and laser weight used in trajectory_manager.cpp is overwritten by const value.

// fine-tuned parameter global_opt_gyro_weight = 28.0; global_opt_acce_weight = 18.5; global_opt_lidar_weight = 10.0;

When use my own imu, its price is about dozens of RMB, how to set three params? Thanks a lot! Best

icameling commented 4 years ago

Now the output error statistics are the original errors, such as point-to-surfel, the errors between IMU measurements and derivatives of estimated trajectory, they are all unweighted. If you use different types of IMUs, we suggest to output the weighted error, that is, the normalized error, and check out if the magnitude of the error and the noise amplitude are consistent.

narutojxl commented 4 years ago

Thanks for your detailed reply :), close it now.