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ethz-asl / lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
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Initial guess ignored? #20

Closed stan-guer closed 5 years ago

stan-guer commented 5 years ago

I am providing an initial guess and setting <param name="local" value="true" <rosparam param="initial_guess">[1.95, 0.0, -0.7, 0.0, 0.0, 0.0, 0.0]</rosparam>

but when the local optimization starts, what I see on the console is: x: 0.00 y: 0.00 z: 0.00 rx: 0.00 ry: 0.25 rz: 0.00 time: 0.00 Error: 4092.49 Iteration: 5

Am I doing something wrong and the initial guess gets ignored or is it somehow being rejected?

stan-guer commented 5 years ago

ah, the typo of inital vs initial

stan-guer commented 5 years ago

Same with translation_range

hlezki commented 3 years ago

Hi,

Thanks for sharing the code. Where should I set parameters (inital_guess, local, time_cal, etc.) ?? In the launch file or in a src file? Can you give some advice how can I choose best initial parameters?

Thanks in advance.