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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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how to compute the roll pitch and yaw of the IMU #166

Closed WEICHUAN1107 closed 4 years ago

WEICHUAN1107 commented 4 years ago

First of all, thank you for your contribution. I'm still confused with the roll, ptich and yaw. is it the angle between the current imu frame and the initial moment imu frame, or the angle between the current imu frame and the east-north-up frame?

Thank you and I'm looking forward to your reply.

TixiaoShan commented 4 years ago

"angle between the current imu frame and the east-north-up frame" should be the right answer.

WEICHUAN1107 commented 4 years ago

Thanks for your @TixiaoShan reply! I'm also confused if the x-axis of the radar and imu coordinate system is forward, the y-axis is left, and the z-axis is up?

TixiaoShan commented 4 years ago

Thanks for your @TixiaoShan reply! I'm also confused if the x-axis of the radar and imu coordinate system is forward, the y-axis is left, and the z-axis is up?

That is correct. One thing you have to keep in mind is that LOAM converts the point cloud from lidar frame to camera frame in here. I think the reason behind this is Ji Zhang was also developing V-LOAM at that time. This conversion makes his LOAM code work seamlessly with V-LOAM.

WEICHUAN1107 commented 4 years ago

Thanks for your @TixiaoShan reply! I'm also confused if the x-axis of the radar and imu coordinate system is forward, the y-axis is left, and the z-axis is up?

That is correct. One thing you have to keep in mind is that LOAM converts the point cloud from lidar frame to camera frame in here. I think the reason behind this is Ji Zhang was also developing V-LOAM at that time. This conversion makes his LOAM code work seamlessly with V-LOAM.

Thanks very much! I got it