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ChaoqinRobotics / LINS---LiDAR-inertial-SLAM

A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter
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imu extrinsics are not used #10

Closed shishiteng closed 4 years ago

shishiteng commented 4 years ago

I searched for two variables init_rbl and init_tbl in the code but found that they were not used actually. Is this a bug?

narutojxl commented 4 years ago

In imu callback() , author thinks the roll and pitch degrees between imu and laser are zero, the yaw from laser to imu is imu_misalign_angle in config file.

ChaoqinRobotics commented 4 years ago

Thanks for your question. LINS program here is just a simplified version. These two values are used in the full program. We will use init_rbl and init_tbl in the following update.

shishiteng commented 4 years ago

Thanks for your question. LINS program here is just a simplified version. These two values are used in the full program. We will use init_rbl and init_tbl in the following update.

Got it! Looking foward the new update!

bryantaoli commented 3 years ago

Thanks for your question. LINS program here is just a simplified version. These two values are used in the full program. We will use init_rbl and init_tbl in the following update.

When will there be an update?