lidar2car标定livox mid360点云数据，yaw角度无法标定出来

[yueyihua]

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start calibrating lidar yaw No valid data for calibrating yaw. Calibration result was saved to file calib_result.txt

[yesheng1996]

请问你现在跑成功了吗？我现在是卡在 BSpline bspline_x = BSpline::Builder(sample_x).degree(bspinedegree).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); BSpline bspline_y = BSpline::Builder(sample_y).degree(bspinedegree).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); 每次到这里都是Segmentation fault (core dumped).

[yueyihua]

请问你现在跑成功了吗？我现在是卡在 BSpline bspline_x = BSpline::Builder(sample_x).degree(bspinedegree).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); BSpline bspline_y = BSpline::Builder(sample_y).degree(bspinedegree).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); 每次到这里都是Segmentation fault (core dumped).

1. Change map_resolution to 0.25 in fastLoam.cpp
2. My problem: data all continued in function YawCalib::GetYawSegs: if (dx dx + dy dy < 1e-5) { continue; }

[samz00]

我也有一样的问题，似乎LOAM算出来的pose是0： <-------------------Start running Lidar SLAM566 --------------------->edge:3380 surf:81766 callbacks.cc:125 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.00e+04 0 1.69e-04 2.13e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535575 relative model cost change: -57884.7 callbacks.cc:125 1 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 5.00e+03 1 7.49e-05 3.12e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535716 relative model cost change: -57900 callbacks.cc:125 2 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.25e+03 1 2.60e-05 3.41e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -536562 relative model cost change: -57991.5 callbacks.cc:125 3 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.56e+02 1 2.50e-05 3.68e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -544431 relative model cost change: -58841.9 callbacks.cc:125 4 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 9.77e+00 1 2.69e-05 3.98e-04 trust_region_minimizer.cc:636 Terminating: Maximum number of iterations reached. Number of iterations: 4. callbacks.cc:125 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.00e+04 0 1.61e-04 1.96e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535575 relative model cost change: -57884.7 callbacks.cc:125 1 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 5.00e+03 1 3.79e-05 2.44e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535716 relative model cost change: -57900 callbacks.cc:125 2 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.25e+03 1 2.69e-05 2.74e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -536562 relative model cost change: -57991.5 callbacks.cc:125 3 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.56e+02 1 2.60e-05 3.02e-04 trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -544431 relative model cost change: -58841.9 callbacks.cc:125 4 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 9.77e+00 1 2.69e-05 3.31e-04 trust_region_minimizer.cc:636 Terminating: Maximum number of iterations reached. Number of iterations: 4. 这里trust_region_minimizer的absolute model cost 是一个异常小的值，不知道是什么原因