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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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odometry结果 #122

Closed duanqigeng closed 2 months ago

duanqigeng commented 2 months ago

作者您好!在观看lidar-selection的逻辑之后,updateFrameState(StatesGroup state),我发现odometry结果是标定到相机,想请问是这样吗?

xuankuzcr commented 2 months ago

您好，“odometry结果是标定到相机”这句话没看懂是什么意思，odom的结果是imu在world系下的pose。

duanqigeng commented 2 months ago

谢谢您的解答