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chennuo0125-HIT / lidar_imu_calib

automatic calibration of 3D lidar and IMU extrinsics

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Can this calibration tool use in livox-mid70 lidar?

vincentcheng62 opened this issue · comments

commented

I tried to use with it
Does it works well?

commented

hello guys did you achieve to use it for livox lidarsS?

commented

it works
geo@geo-X570-GAMING-X:~/ws_livox$ roslaunch lidar_imu_calib calib_exR_lidar2imu.launch
... logging to /home/geo/.ros/log/acf2335a-4c87-11ee-9ed7-18c04d2d923b/roslaunch-geo-X570-GAMING-X-9852.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://geo-X570-GAMING-X:35963/

SUMMARY

PARAMETERS

  • /calib_exR_lidar2imu_node/bag_file: /home/geo/catkin_...
  • /calib_exR_lidar2imu_node/imu_topic: /imu/data
  • /calib_exR_lidar2imu_node/lidar_topic: /livox/lidar
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES
/
calib_exR_lidar2imu_node (lidar_imu_calib/calib_exR_lidar2imu_node)

auto-starting new master
process[master]: started with pid [9877]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to acf2335a-4c87-11ee-9ed7-18c04d2d923b
process[rosout-1]: started with pid [9903]
started core service [/rosout]
process[calib_exR_lidar2imu_node-2]: started with pid [9906]
[ INFO] [1693985610.775254423]: add lidar msg ......
[ INFO] [1693985615.815863831]: add lidar msg ......
total lidar buffer size 1071, imu buffer size 21430
constraints size 1069
constraints size 1069

result euler angle(RPY) : 0.0758342 -0.0399128 0.0161903
result extrinsic rotation matrix : 
  0.999073 -0.0191658 -0.0385558
 0.0161767   0.996946 -0.0763958
 0.0399022  0.0757012   0.996332

[calib_exR_lidar2imu_node-2] process has finished cleanly