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hku-mars / LiDAR_IMU_Init

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.
GNU General Public License v2.0
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Failed to calibrate using the sample data Hesai_library.bag #66

Closed CharlieV5 closed 1 year ago

CharlieV5 commented 1 year ago

I download the sample data here: Lidar IMU Initialization Datasets. I have test the Hesai_library.bag and Hesai_apartment1.bag. The Initialization has never reach 100% when the rosbag play ends, as the screen shot below. Are there any mistakes with the data or the settings?

2023-05-07 21-00-26屏幕截图

2023-05-07 21-01-27屏幕截图

zfc-zfc commented 1 year ago

Adjusting data_accum_length and cut_frame_num would fix this, please try setting data_accum_length to 300 and cut_frame_num to 4.

CharlieV5 commented 1 year ago

Adjusting data_accum_length and cut_frame_num would fix this, please try setting data_accum_length to 300 and cut_frame_num to 4.

Thank you!