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Hi there,
while sequences A and C have an upright imu orientation for topic /husky4/vn100/imu_wori_wcov, it seems to be flipped onto its head on sequence F. In all cases the messages have frame_id husky4/baselink.
This does not seem to pose a problem for locus (as it only uses the delta in locus.cc), but other algorithms (e.g. LIO-SAM) use the orientation for initialization etc.
As far as I have seen the data was not only transformed from imu to baselink but also filtered.
Could you also provide the code used to convert /husky4/vn100/imu to /husky4/vn100/imu_wori_wcov ?
Hi there, while sequences A and C have an upright imu orientation for topic
/husky4/vn100/imu_wori_wcov, it seems to be flipped onto its head on sequence F. In all cases the messages have frame_idhusky4/baselink. This does not seem to pose a problem for locus (as it only uses the delta in locus.cc), but other algorithms (e.g. LIO-SAM) use the orientation for initialization etc. As far as I have seen the data was not only transformed from imu to baselink but also filtered. Could you also provide the code used to convert/husky4/vn100/imuto/husky4/vn100/imu_wori_wcov?Best, Jan