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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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Initialization probelm #43

Open Shelfcol opened 2 years ago

Shelfcol commented 2 years ago

Hi, thank you for the excellent work. I am learning the codes recently, but I have a question. when I modify the q0 to Quaternion::Identity, solve failed. `Parameter Block 0, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 1, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 2, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 3, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan`

Could you please explain this problem? Thx.

af-doom commented 1 year ago

Hi, thank you for the excellent work. I am learning the codes recently, but I have a question. when I modify the q0 to Quaternion::Identity, solve failed. `Parameter Block 0, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 1, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 2, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan

Parameter Block 3, size: 4

       0 |         -nan 
       0 |         -nan 
       0 |         -nan 
       1 |         -nan`

Could you please explain this problem? Thx.

您解决这个问题了吗