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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
1.05k stars 394 forks source link

how is the imu_pose and imu_transfrom got #157

Open Lachiven opened 4 years ago

Lachiven commented 4 years ago

@rdube I am using a velodyne lidar and imu the bag like this but for sure i cant record the imu pose.Want to know how the date create where the imu_pose from. image image

tobby1998 commented 4 years ago

I also look into this problem. My opinion is that the result of imu is received from TF trees. Details can be found by searching parameter "use_odom_factor" in the project (laserslamworker.cpp).

Lachiven commented 4 years ago

I also look into this problem. My opinion is that the result of imu is received from TF trees. Details can be found by searching parameter "use_odom_factor" in the project (laserslamworker.cpp).

@tobby1998 yes, but in reality world how can we get that information. Have you apply this program with your own scene? we can dicuss it on QQ my QQ number is 1353632881