您好，您的算法建图时的效果非常稳定和出色，但是我在localization mode下遇到了一些问题，具体就是我用同一个bag跑建图和定位，所以在选择初始的2D pose的时候，直接选择了建图时的起点，但是GICP似乎总是会把起点拉到一个错误的位置，您可以帮忙分析下原因吗？如果能得到您的回复，我会非常感激。
第一张图是建图原点的可视化，我点击这个地方输入位姿后，播放rosbag，定位起点会跳至图2的地方，图3是完整定位结束之后的效果，可以看到整个地图产生了一定的偏移。
附上我使用的yaml文件
#################################### yaml文件
common:
lid_topic: "/hesai/pandar"
imu_topic: "/alphasense/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 4 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32
blind: 0.7
time_scale: 1e-3 # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
mapping:
acc_cov: 1.0
gyr_cov: 0.01
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 180
det_range: 100.0
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ -0.001, -0.00855, 0.055 ]
extrinsic_R: [ 0, -1, 0,
-1, 0, 0,
0, 0, -1 ]
publish:
path_publish_en: true
scan_publish_en: true # false: close all the point cloud output
scan_effect_pub_en: true # true: publish the pointscloud of effect point
dense_publish_en: false # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
path_save_en: true # 保存轨迹，用于精度计算和比较
pcd_save:
pcd_save_en: false
interval: -1 # how many LiDAR frames saved in each pcd file; # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
feature_extract_enable: false
###############这里之后可以改
point_filter_num: 3 # 6--点云刚进入系统时就抽点
max_iteration: 3
filter_size_surf: 0.5
filter_size_map: 0.5
cube_side_length: 1000
esti_plane_threshold: 0.1 # default=0.1
localization_param:
map_file_name: "scans_32" # scans_32
init_height: -0.00
relocalization_param:
leaf_size: 0.2 # 0.5
det_range: 25.0 # 50.0
max_correspondence_distance: 3.0 # 3.0
manager_param:
block_size: 1.0
block_resolution: 0.2
temporary_map_points_threshold: 20
global_map_filter_leaf_size: 0.3
search_radius: 0.5
min_search_points_num: 3
您好，您的算法建图时的效果非常稳定和出色，但是我在localization mode下遇到了一些问题，具体就是我用同一个bag跑建图和定位，所以在选择初始的2D pose的时候，直接选择了建图时的起点，但是GICP似乎总是会把起点拉到一个错误的位置，您可以帮忙分析下原因吗？如果能得到您的回复，我会非常感激。
第一张图是建图原点的可视化，我点击这个地方输入位姿后，播放rosbag，定位起点会跳至图2的地方，图3是完整定位结束之后的效果，可以看到整个地图产生了一定的偏移。
附上我使用的yaml文件
#################################### yaml文件
common:
lid_topic: "/hesai/pandar"
imu_topic: "/alphasense/imu"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
preprocess:
lidar_type: 4 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32
blind: 0.7
time_scale: 1e-3 # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
mapping:
acc_cov: 1.0
gyr_cov: 0.01
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 180
det_range: 100.0
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ -0.001, -0.00855, 0.055 ]
extrinsic_R: [ 0, -1, 0,
-1, 0, 0,
0, 0, -1 ]
publish:
path_publish_en: true
scan_publish_en: true # false: close all the point cloud output
scan_effect_pub_en: true # true: publish the pointscloud of effect point
dense_publish_en: false # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame
path_save_en: true # 保存轨迹，用于精度计算和比较
pcd_save:
pcd_save_en: false
interval: -1 # how many LiDAR frames saved in each pcd file; # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
feature_extract_enable: false
###############这里之后可以改
point_filter_num: 3 # 6--点云刚进入系统时就抽点
max_iteration: 3
filter_size_surf: 0.5
filter_size_map: 0.5
cube_side_length: 1000
esti_plane_threshold: 0.1 # default=0.1
localization_param:
map_file_name: "scans_32" # scans_32
init_height: -0.00
relocalization_param:
leaf_size: 0.2 # 0.5
det_range: 25.0 # 50.0
max_correspondence_distance: 3.0 # 3.0
manager_param:
block_size: 1.0
block_resolution: 0.2
temporary_map_points_threshold: 20
global_map_filter_leaf_size: 0.3
search_radius: 0.5
min_search_points_num: 3