lidar2car标定livox mid360点云数据，yaw角度无法标定出来

[yueyihua]

---

start calibrating lidar yaw
No valid data for calibrating yaw.
Calibration result was saved to file calib_result.txt

[yesheng1996]

请问你现在跑成功了吗？我现在是卡在
BSpline bspline_x = BSpline::Builder(sample_x).degree(bspine_degree_).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build();
BSpline bspline_y = BSpline::Builder(sample_y).degree(bspine_degree_).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build();
每次到这里都是Segmentation fault (core dumped).

[yueyihua]

请问你现在跑成功了吗？我现在是卡在 BSpline bspline_x = BSpline::Builder(sample_x).degree(bspine_degree_).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); BSpline bspline_y = BSpline::Builder(sample_y).degree(bspine_degree_).smoothing(BSpline::Smoothing::PSPLINE).alpha(0.03).build(); 每次到这里都是Segmentation fault (core dumped).

1. Change map_resolution to 0.25 in fastLoam.cpp
2. My problem: data all continued in function YawCalib::GetYawSegs:
   if (dx * dx + dy * dy < 1e-5) {
   continue;
   }

[samz00]

我也有一样的问题，似乎LOAM算出来的pose是0：
<-------------------Start running Lidar SLAM566 --------------------->edge:3380
surf:81766
callbacks.cc:125 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.00e+04 0 1.69e-04 2.13e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535575 relative model cost change: -57884.7
callbacks.cc:125 1 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 5.00e+03 1 7.49e-05 3.12e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535716 relative model cost change: -57900
callbacks.cc:125 2 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.25e+03 1 2.60e-05 3.41e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -536562 relative model cost change: -57991.5
callbacks.cc:125 3 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.56e+02 1 2.50e-05 3.68e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -544431 relative model cost change: -58841.9
callbacks.cc:125 4 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 9.77e+00 1 2.69e-05 3.98e-04
trust_region_minimizer.cc:636 Terminating: Maximum number of iterations reached. Number of iterations: 4.
callbacks.cc:125 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.00e+04 0 1.61e-04 1.96e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535575 relative model cost change: -57884.7
callbacks.cc:125 1 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 5.00e+03 1 3.79e-05 2.44e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -535716 relative model cost change: -57900
callbacks.cc:125 2 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.25e+03 1 2.69e-05 2.74e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -536562 relative model cost change: -57991.5
callbacks.cc:125 3 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 1.56e+02 1 2.60e-05 3.02e-04
trust_region_minimizer.cc:428 Invalid step: current_cost: 9.25243 absolute model cost change: -544431 relative model cost change: -58841.9
callbacks.cc:125 4 9.252431e+00 0.00e+00 5.53e-01 0.00e+00 0.00e+00 9.77e+00 1 2.69e-05 3.31e-04
trust_region_minimizer.cc:636 Terminating: Maximum number of iterations reached. Number of iterations: 4.
这里trust_region_minimizer的absolute model cost 是一个异常小的值，不知道是什么原因

[pedestrain123]

@yueyihua 你好请问您有用过这个标定工具箱里面lidar2ins自动标定算法吗？就是基于balm的那个方法

[zhangyuran-gg]

我现在是卡在 BSpline bspline_x = BSpline：：Builder（sample_x）.degree（bspine_degree_）.smoothing（BSpline：：Smoothing：:P SPLINE）.alpha（0.03）.build（）;BSpline bspline_y = BSpline：：Builder（sample_y）.degree（bspine_degree_）.smoothing（BSpline：：Smoothing：:P SPLINE）.alpha（0.03）.build（）;每次到这里都是 Segmentation fault （core dumped）。

1. 将 map_resolution 更改为 0.25 in fastLoam.cpp
2. 我的问题：数据都在函数 YawCalib：：GetYawSegs 中继续： if （dx * dx + dy * dy < 1e-5） { continue;
   }

Have you solved your problem？

[pedestrain123]

我现在是卡在 BSpline bspline_x = BSpline：：Builder（sample_x）.degree（bspine_degree_）.smoothing（BSpline：：Smoothing：:P SPLINE）.alpha（0.03）.build（）;BSpline bspline_y = BSpline：：Builder（sample_y）.degree（bspine_degree_）.smoothing（BSpline：：Smoothing：:P SPLINE）.alpha（0.03）.build（）;每次到这里都是 Segmentation fault （core dumped）。

1. 将 map_resolution 更改为 0.25 in fastLoam.cpp
2. 我的问题：数据都在函数 YawCalib：：GetYawSegs 中继续： if （dx * dx + dy * dy < 1e-5） { continue;
   }

Have you solved your problem？

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