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## Tasks
- Consider how to do unit testing or benchmarking
- [ ] unit testing of IMU preprocessings (compute_velocity, compute_gravity_dir, preintegration)
- [ ] unit testing of edges for vis…
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Hi,I would want to sync the time stamp of a stereo of blackfly s cameras with IMU and Lidar. But I found the time stamp is output by the camera sdk directly.
How can I set timestamp?
Thank you.
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I have setup turtlebot3 with velodyne lidar in gazebo and I can view the pointcloud in rviz2, and also checked the topics being published where imu_raw is also present. When i start scanmatcher I get …
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Thank you for this great dataset!
I am wondering if any information about the IMU calibration is available? The SensorData class doesn't load any such information.
Namely, I am wondering about the…
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### Proposal
There is already an IMU implemented in IsaacSim documented here https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_physics_based_imu.html.
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![疑问](https://github.com/user-attachments/assets/1586143f-57b9-4689-8627-25fc0edde05a)
由于ULHK数据集中的imu数据移除了重力部分,但是经过调试发现,初始化后,imu的加速度偏置中没有移除重力的影响。这部分是否是源码部分的问题,还是我个人理解的问题呢?
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At runtime, the robot `state` is estimated and corrected continuously by the IMU and pointcloud callback pipeline, both running in parallel.
## IMU pipeline
The IMU callback gets new IMU measure…
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Is there any documentation on a DIY headtracker available? which imu is needed? would it work on an EP82 backpack with external imu (super simple and quick) or is an ESP32 like in the HDZero goggles n…
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I ran successfully on my own dataset in a monocular scenario.
But when I try to run monocular-inertial scenario on my own dataset, I get errors.
- IMU: 200Hz
- Images: 20Hz
- Camera type: Pinhol…
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我也看了一下代码,感觉总是怪怪的
(3.71) 初始化的时候
认为RT=I, 那也就是说这个时候世界系和imu系是重合了,这个时候获得的g前两项不是完全为0,因为imu不是完全水平的,我非常理解,换句话说,这个时候算出的g应该是imu坐标系下的结果
但是
(3.15)递推的时候
很明显,应该是在世界坐标系下的g,算出的是世界坐标系下的位置等
为什么代码里还是用的之前初始化的g,不应…