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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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imu辅助雷达去畸变的这行代码，谁能帮我解释下每个变量的含义啊 #294

Closed 123456zhi closed 9 months ago

123456zhi commented 10 months ago

imu辅助雷达去畸变的这行代码，谁能帮我解释下每个变量的含义啊 V3D P_compensate = imu_state.offset_R_L_I.conjugate() (imu_state.rot.conjugate() (R_i (imu_state.offset_R_L_I P_i + imu_state.offset_T_L_I) + T_ei) - imu_state.offset_T_L_I); ![Uploading d.png…]()

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