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PJLab-ADG / Livox-Mapping

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
464 stars 106 forks source link

About Fitting the local ground plane #27

Closed Milalaa closed 1 year ago

Milalaa commented 1 year ago

Thank you for your excellent work! I have two questions for you.

  1. Is the lidarframelist holding the poses in the lidar coordinate system?
  2. What is the logic in Cost_NavState_PR_Ground? Is the P and Q (translation and rotation) in lidarframelist converted to the world coordinate system? And how is the local ground plane calculated?

I am new in this field, and the transformation makes me confused. I'm sorry for all the questions and look forward to your reply!

SiyuanHuang95 commented 1 year ago
  1. poses aligned with the lidar coordinate system. If so, should it be an identity matrix?
  2. For the local ground, I suggest you look in LOAM or Lego-LOAM. Most LOAM follows that typical logic.

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