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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Ensure mapping aligns with gravity #127

Closed gloomysunday closed 2 years ago

gloomysunday commented 2 years ago

When the LiDAR is static during initialization, the rotation of init state cloud be computed from the linear acceleration vector and unitZ, to ensure mapping aligns with gravity.

Pallav1299 commented 1 year ago

@gloomysunday, @XW-HKU What's the status on this. Has the gravity alignment feature been added to the package yet?

gloomysunday commented 1 year ago

It seems not yet added. You are welcome to add this code to your own package.