why angular_velocity from imu not been coordinate exchange

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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why angular_velocity from imu not been coordinate exchange #232

Closed goodloop closed 3 years ago

goodloop commented 3 years ago

y->x, x->z, z->y happens for segmented lidar and imu accerlater value, but not for imu angular velocity. Is it by design?

https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/896a7a95a8bc510b76819d4cc48707e344bad621/LeGO-LOAM/src/featureAssociation.cpp#L454

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