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hku-mars / mlcc

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
GNU General Public License v2.0
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!std::isnan(residual2) #14

Closed debuleilei closed 2 years ago

debuleilei commented 2 years ago

hello, I met a problem with this 20220615-012739 it's in the first step pose_refine.launch.I have read the details about this same phenomenon but It doesn't work can you give me some advice

samsdolphin commented 2 years ago

Hi, may I know if you are using the default parameters?

debuleilei commented 2 years ago

yes，I have successfully use it in many datasets,but at this time,I try to allign some rgbd data which have some poor aaccuracy . I,m wondering why the residual2 ==NAN,can I do some improvements？

samsdolphin commented 2 years ago

Hi, sorry for my late reply. Do you mean you are using your own RGBD data? The residual2 ==NAN error will happen if the initial value is too poor. This is because the points in each voxel barely fall on the same plane. You may check if it is caused by this issue in rviz.

19855179496 commented 6 months ago

do you finish your work？if it done，can you describe how to make the results better,my results looks not good!

19855179496 commented 6 months ago

how to set the params to make results better