建图时坐标系与实际不符

hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

GNU General Public License v2.0

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建图时坐标系与实际不符 #290

Closed jllk47 closed 10 months ago

jllk47 commented 11 months ago

2023-12-18 17-29-45 的屏幕截图大佬您好，我是slam方向的小白雷达和imu的外参是通过Lidar_Imu_Init进行标定的，而在建图过程中，坐标系的方向与实际指向是不匹配的，例如图中z轴指向为雷达扫描方向，并且雷达imu在静止时会出现抖动，请问出现上面两种情况的原因是什么呢

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