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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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Timestamp Sensitivity Issue #41

Open MertAdak opened 1 year ago

MertAdak commented 1 year ago

Hello,

I am trying to use this repo to calibrate my Lidar and GNSS. I believe the problem I faced is happening because of the sensitivity that the project requires. I compared everything with the example.bag, which is provided by this repo, and the bag that I recorded and observed the following difference:

  1. Timestamps of my bag is 16 digits meanwhile the timestamps of the example.bag is 8 digits.
  2. The line that t_diff_ratio calculated to interpolate the points are 1000 times bigger than the example.bag. This ratio is then used to calculate the transformation, as a result transformation is calculated wrongly.

I examined literally everything and couldn't find any other difference. What do you think about my situation. I would be very appreciated if you help me to fix my problem.

Thanks, Mert Adak