I have used this project for calibration between 2D LiDAR and odom frame, but the accuracy of repeated calibration is poor

[yanzongt]

here is my result of 4 bag of data, I have make roll and pitch and z changeless， but the calibration result still change a lot between difference data block

[0.105331, -0.00427577, 3.02701e-06, -3.14158, -6.3823e-08, -1.80472e-05],0.00107323
final error is: 0.000167   0.00 time:   0.00 Error:      15.81 Iteration: 60
[0.113292, -0.0167869, 3.10062e-07, -3.14159, -2.05705e-06, -4.104e-05]0.00369574
final error is: 0.000144   0.00 time:   0.00 Error:      14.50 Iteration: 71
[0.106209, -0.0178112, 5.71466e-06, -3.14153, -2.95107e-08, -2.67456e-05]0.00208323
final error is: 0.000158   0.00 time:   0.00 Error:      10.40 Iteration: 57

[0.122292, -0.0181305, 3.51004e-06, 3.14128, 0, 0.000273821]0.00354005
final error is: 0.000101   0.00 time:   0.00 Error:       4.97 Iteration: 57

I wonder the effect of 3D calibration and the precision range, could anyone give me some result?
And if there any requirement for the way of movement? Cause the result I got seems unacceptable.

[csufangyu]

hi ,can you share how to use it in 2D Lidar and IMU?