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SJTU-ViSYS / M2DGR

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)
MIT License
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What is the extrinsic of imu and gt (Leica) in hall data? #84

Closed LTHlidar closed 9 months ago

LTHlidar commented 1 year ago

First, thank you for providing the dataset!

I am trying to compare GT and LiO-SAM pose results using hall data.

I would like to compare the pose results with respect to the IMU coordinate system.

So, can you give me the extrinsic between GT (Leica) and handsfree IMU? For example, translational and rotational parameters. Thanks.

Alex-Beh commented 1 year ago

Asking for the same question. Would like to know the extrinsic matrix so I can align the trajectories and calculate the absolute pose error. Do you manage to find out the answer?

h-k8888 commented 10 months ago

Asking for the same question.