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unmannedlab / imu_lidar_calibration

Target-free Extrinsic Calibration of a 3D Lidar and an IMU
BSD 2-Clause "Simplified" License
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Where to print the initilization result (rotation extrinsic) #6

Closed zfc-zfc closed 2 years ago

zfc-zfc commented 2 years ago

Hi, your paper said an initialization module is implemented to obtain coarse rotation extrinsic, by aligning two rotation sequences (IMU angular velocity integration and NDT scan matching). But I didn't find where to print the initilization result, only final result in the end.

Another question, do I need to give an initial guess of the extrinsic parameters manually? Because I print the result of

Eigen::Matrix3d I_R_L = lin_core::quat_2_Rot(sys->get_state()->_calib_LIDARtoIMU->quat()); Eigen::Vector3d I_t_L = sys->get_state()->_calib_LIDARtoIMU->pos();

I found the I_R_L just have a little change from default initial value (0,0,0) degree. Thanks!

zfc-zfc commented 2 years ago

My bad. I just know I need to run tos_calib_init.launch to acquire initial result. Thanks.