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Incorrect exctrinsics Lidar -> Imu #35

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tiesus opened this issue Apr 3, 2023 · 0 comments
Open

Incorrect exctrinsics Lidar -> Imu #35

tiesus opened this issue Apr 3, 2023 · 0 comments

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@tiesus
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tiesus commented Apr 3, 2023 •
edited

I used your repository to set up a slam configuration with a livox lidar an an external IMU. My setup has imu and lidar mounted with an pitch angle of 17 degree.

Could it be that the orientation of your transformation for the imu of the avia has incorrect signs?
According to your configuration, the extrinsics from lidar->imu are:

FAST_LIO_SLAM/FAST-LIO/config/avia.yaml

Lines 18 to 21 in 10eab53

extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]

The official avia documentation says:
image
@tiesus tiesus changed the title Inccorect ectrinsics Lidar -> Imu Inccorect exctrinsics Lidar -> Imu Apr 3, 2023
@tiesus tiesus changed the title Inccorect exctrinsics Lidar -> Imu Incorrect exctrinsics Lidar -> Imu Apr 3, 2023
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