search

chennuo0125-HIT / lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics
501 stars 113 forks source link

Can this calibration tool use in livox-mid70 lidar? #19

Open vincentcheng62 opened 3 years ago

Minsu-Kim1822 commented 2 years ago

I tried to use with it Does it works well?

ManChrys commented 2 years ago

hello guys did you achieve to use it for livox lidarsS?

ManChrys commented 1 year ago

it works geo@geo-X570-GAMING-X:~/ws_livox$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch ... logging to /home/geo/.ros/log/acf2335a-4c87-11ee-9ed7-18c04d2d923b/roslaunch-geo-X570-GAMING-X-9852.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://geo-X570-GAMING-X:35963/

SUMMARY

PARAMETERS

NODES / calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)

auto-starting new master process[master]: started with pid [9877] ROS_MASTER_URI=http://localhost:11311

setting /run_id to acf2335a-4c87-11ee-9ed7-18c04d2d923b process[rosout-1]: started with pid [9903] started core service [/rosout] process[calib_exR_lidar2imu_node-2]: started with pid [9906] [ INFO] [1693985610.775254423]: add lidar msg ...... [ INFO] [1693985615.815863831]: add lidar msg ...... total lidar buffer size 1071, imu buffer size 21430 constraints size 1069 constraints size 1069

result euler angle(RPY) : 0.0758342 -0.0399128 0.0161903
result extrinsic rotation matrix : 
  0.999073 -0.0191658 -0.0385558
 0.0161767   0.996946 -0.0763958
 0.0399022  0.0757012   0.996332

[calib_exR_lidar2imu_node-2] process has finished cleanly