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bug in lidar2lidar auto_calib? #152

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yaodix opened this issue Apr 12, 2024 · 0 comments
Open

bug in lidar2lidar auto_calib? #152

yaodix opened this issue Apr 12, 2024 · 0 comments

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@yaodix
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yaodix commented Apr 12, 2024

curr_transform = init_ext * T_ms
这个curr_transform会累加init_ext 和 T_ms的z值,导致点云在z方向更多地偏离target。 修改为
curr_transform = init_ext; curr_transform(2,3) = T_ms(2,3);
这样应该正确吧,不过平移方向很好对齐,最终结果一般不影响。
从使用过程来看,z初值的准确性比较重要,误差太多可能会导致source点云给定一个离谱的cip初始值。

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