Closed SakuraMemoryKnight closed 4 years ago
It is used to deskew the point cloud. However, the translation estimation of IMU drifts super fast. So I observed bad performance when using this for deskewing.
You can certainly try it. See its place in the code.
Thanks for your @TixiaoShan reply! I got it.
This function is only defined, and I don't find it used anywhere else,Is this an obsolete function?
void ShiftToStartIMU(float pointTime) { imuShiftFromStartXCur = imuShiftXCur - imuShiftXStart - imuVeloXStart pointTime; imuShiftFromStartYCur = imuShiftYCur - imuShiftYStart - imuVeloYStart pointTime; imuShiftFromStartZCur = imuShiftZCur - imuShiftZStart - imuVeloZStart * pointTime;