I read both fastlio and fast-livo,I found there are some differences in backward procedure.
I confused about the code below which is compute the translation from the end frame to i-th point
V3D T_ei(pos_imu + vel_imu * dt + 0.5 * acc_imu * dt * dt + R_i * Lid_offset_to_IMU - pos_liD_e);
I wonder what's the meaning of the R_i * Lid_offset_to_IMU
Thanks for your reply,best wishes!
xuankuzcr
commented
1 year ago
I read both fastlio and fast-livo,I found there are some differences in backward procedure. I confused about the code below which is compute the translation from the end frame to i-th point
V3D T_ei(pos_imu + vel_imu * dt + 0.5 * acc_imu * dt * dt + R_i * Lid_offset_to_IMU - pos_liD_e);I wonder what's the meaning of theR_i * Lid_offset_to_IMUThanks for your reply,best wishes!