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MegviiRobot / OdomLaserCalibraTool

Extrinsic Calibration of a Odom and 2d Laser
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内参标定不准确 #10

Open Forrest-Z opened 3 years ago

Forrest-Z commented 3 years ago

你好，我在使用该程序进行测试时，外参（雷达到机器人中心的tf变化）标定挺好，但是输出结果中的内参（轮子半径和轮间距）就误差很大，能解释一下为啥吗？谢谢

paulwong16 commented 3 years ago

Try more straight-line motion when recording the rosbag. (I think there is somewhere discussing the effects of choosing different paths in Censi's paper.)