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PJLab-ADG / SensorsCalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
Apache License 2.0
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lidar2imu diverge #35

Open linwk20 opened 2 years ago

linwk20 commented 2 years ago

Hi, Thanks for your sharing! I have used the lidar2imu tool, however, the result seems to diverge.

Ceres Solver Report: Iterations: 15, Initial cost: 2.748471e+03, Final cost: 2.717503e+03, Termination: CONVERGENCE

I have given it a proper initialization. What could be the possible other reason?

Thanks!

xiaokn commented 2 years ago

Hi, Thanks for your sharing! I have used the lidar2imu tool, however, the result seems to diverge.

Ceres Solver Report: Iterations: 15, Initial cost: 2.748471e+03, Final cost: 2.717503e+03, Termination: CONVERGENCE

I have given it a proper initialization. What could be the possible other reason?

Thanks!

You can pull the latest code and try again. It is better to have more surface features in the calibration environment.

linwk20 commented 2 years ago

Hi, Thanks for your quick reply, I will try running the latest code. Besides, I wonder is there other built-in debug way? For example, can I visualize the diverging process or the surface feature's distribution? now I can only received feedback from terminal.