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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 show Termination: NO_CONVERGENCE #67

Open MrDragon2 opened 6 months ago

MrDragon2 commented 6 months ago

Load dataset from /home/lgg/bag/nanmen/30-4-09.bag /rslidar_points: 2001 /infore/sensor/gnss/ros_imu: 10000 Ceres Solver Report: Iterations: 31, Initial cost: 1.430032e+03, Final cost: 3.290464e+01, Termination: NO_CONVERGENCE

Milankaka2222 commented 3 months ago

请问你解决了吗，我也遇到同样问题

barrylu457 commented 3 weeks ago

Ceres Solver Report: Iterations: 31, Initial cost: 8.372840e+05, Final cost: 1.227074e+03, Termination: NO_CONVERGENCE [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! 后面这个问题无法创建KDTREE怎么回事呢，我能生成最终结果，不知道会不会影响