IMU_LiDAR params

[ManChrys]

Hello again my friend , I understand what do you mean in #16 but as I'm new, how can I find these parameters ? I tried LiDAR-imu-init repository but the results are not good. I got something like that

Initialization result: Rotation LiDAR to IMU (degree) = 80.540787 -36.750309 78.788532 Translation LiDAR to IMU (meter) = -0.141204 0.223906 0.390454 Time Lag IMU to LiDAR (second) = -18.262039 Bias of Gyroscope (rad/s) = 0.051176 -0.071062 -0.004010 Bias of Accelerometer (meters/s^2) = -0.005226 0.015899 -0.003477 Gravity in World Frame(meters/s^2) = -7.115069 -6.738784 -0.447985

Homogeneous Transformation Matrix from LiDAR to IMU: 0.155873 -0.276107 0.948403 -0.141204 0.785972 -0.546882 -0.288390 0.223906 0.598291 0.790370 0.131768 0.390454 0.000000 0.000000 0.000000 1.000000

Refinement result: Rotation LiDAR to IMU (degree) = 82.048534 -36.625378 77.469056 Translation LiDAR to IMU (meter) = -0.274615 0.277822 0.348879 Time Lag IMU to LiDAR (second) = -18.262039 Bias of Gyroscope (rad/s) = 0.257372 -0.246300 -0.139832 Bias of Accelerometer (meters/s^2) = -0.005012 0.015841 -0.003373 Gravity in World Frame(meters/s^2) = -7.115129 -6.738791 -0.448222

Homogeneous Transformation Matrix from LiDAR to IMU: 0.174212 -0.263379 0.948832 -0.274615 0.783446 -0.546662 -0.295589 0.277822 0.596543 0.794853 0.111108 0.348879 0.000000 0.000000 0.000000 1.000000

How can I calib my imu(mti g 710 )with LiDAR (livox mid 40)?? There is any repo ?

EDIT

The values are too big because i did fast calib with lil-init just to show you the type of extracting data.

Thanks in advance .

[SiyuanHuang95]

The calibration parameters in our repo are from the Livox-supplier, where IMU is built-in style.

[ManChrys]

Yeah i see, but do you know any way to calib external imu with livox?

[SiyuanHuang95]

maybe you can check the repo also from PJLAB-ADG: https://github.com/PJLab-ADG/SensorsCalibration

[ManChrys]

thank you my friend. ill try it right now!!