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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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Gravity Alignment of Maps #367

Open hermannsblum opened 1 year ago

hermannsblum commented 1 year ago

Aligns a map such that the average IMU message points into positive z direction, following the coordinate system conventions of maplab for gravity alignment. This is useful if e.g. your odometry method follows a different convention.

before: MicrosoftTeams-image (2)

after: MicrosoftTeams-image (1)

ethzasl-jenkins commented 1 year ago

Test FAILed.

ethzasl-jenkins commented 1 year ago

Test FAILed.

ethzasl-jenkins commented 1 year ago

Test PASSed.