结果求出来啦！如何填写进yaml呢！

[kxch928925819]

mapping:
acc_cov: 0.208587
gyr_cov: 0.97676
b_acc_cov: 0.00314634
b_gyr_cov: 0.0492061
fov_degree: 180
det_range: 100.0
extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_T: [ 0.576033,-0.134497,0.19392]
extrinsic_R: [7.36366,0.434608,-6.43675,
0.000291061,2.85E-05,4.55E-05,
0.38544,-0.453856,0.00630897]

按照作者的程序，标定结果如下，但是我真的不专业，只不过是个测绘技术人员，现在把这个数据写进yaml一起上传，麻烦您看掌掌眼！指导一下！

[zarathustr]

这个求出来应该是问题很大的 因为你的R都是不正交的

[kxch928925819]

这是我做的一个旋转的velodyne。类似geoslam等旋转设备！整了几个月不成功，请指导一下！谢谢🙏

[WangWenda98]

想问一下，编译完启动gui报错您怎么解决的
wwd@wwd-Lenovo-Legion-Y7000:~/catkin_li_calib$ ./src/lidar_IMU_calib/calib.sh
topic_imu:=/imu1/data_sync
path_bag:=/home/ha/rosbag/li_calib_data/Garage-01.bag
ndtResolution:=0.5

... logging to /home/wwd/.ros/log/b1dd887c-d060-11ed-af6e-802bf996be09/roslaunch-wwd-Lenovo-Legion-Y7000-14488.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://wwd-Lenovo-Legion-Y7000:45685/

SUMMARY

PARAMETERS

• /li_calib_gui/LidarModel: VLP_16
• /li_calib_gui/bag_durr: 30.0
• /li_calib_gui/bag_start: 1.0
• /li_calib_gui/ndtResolution: 0.5
• /li_calib_gui/path_bag: /home/ha/rosbag/l...
• /li_calib_gui/scan4map: 15.0
• /li_calib_gui/show_ui: True
• /li_calib_gui/time_offset_padding: 0.015
• /li_calib_gui/topic_imu: /imu1/data_sync
• /li_calib_gui/topic_lidar: /velodyne_packets
• /rosdistro: melodic
• /rosversion: 1.14.13

NODES
/
li_calib_gui (li_calib/li_calib_gui)

ROS_MASTER_URI=http://localhost:11311

process[li_calib_gui-1]: started with pid [14507]
terminate called after throwing an instance of 'boost::filesystem::filesystem_error'
what(): boost::filesystem::create_directory: No such file or directory: "/home/ha/rosbag/li_calib_data/Garage-01"
[li_calib_gui-1] process has died [pid 14507, exit code -6, cmd /home/wwd/catkin_li_calib/devel/lib/li_calib/li_calib_gui __name:=li_calib_gui __log:=/home/wwd/.ros/log/b1dd887c-d060-11ed-af6e-802bf996be09/li_calib_gui-1.log].
log file: /home/wwd/.ros/log/b1dd887c-d060-11ed-af6e-802bf996be09/li_calib_gui-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
wwd@wwd-Lenovo-Legion-Y7000:~/catkin_li_calib$