雷达imu联合标定lidar_imu_calib-main

1.将文件夹解压后安装在catkin_ws/src下

```
mkdir -p catkin_ws/src   
cd catkin_ws/src
git clone https://github.com/chennuo0125-HIT/lidar_imu_calib.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="ndt_omp;lidar_imu_calib"
```

2.报错：/usr/include/flann/util/serialization.h:9:10: fatal error: flann/lz4.h: 没有那个文件或目录
 #include "flann/lz4.h"4  ^~~~~~~~~~~~compilation terminated.
😆️solution

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

3.开启imu和雷达并录制bag包

rosbag record /imu/data_open /rslidar_points

4.launch文件修改

<launch>
    <node pkg="lidar_imu_calib" type="calib_exR_lidar2imu_node" name="calib_exR_lidar2imu_node" output="screen">
        <param name="/lidar_topic" value="/rslidar_points"/>
        <param name="/imu_topic" value="/imu/data_open"/>
        <param name="/bag_file" value="/home/goocc/catkin_ws/2022-11-07-22-26-51.bag"/>
    </node>
</launch>

5.运行

   roslaunch lidar_imu_calib calib_exR_lidar2imu.launch

6.结果

result euler angle(RPY) : 0.597674 -0.209234 2.72659
result extrinsic rotation matrix : 
-0.895158 -0.226333  0.384012
 0.394395 -0.803605  0.445727
 0.207711  0.550448  0.808618