Problem about groud truth lidar coordinate transformation

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

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Problem about groud truth lidar coordinate transformation #61

Closed windwolf9 closed 4 years ago

windwolf9 commented 4 years ago

Hi @hyye ,when using ground truth pose from topic "/Robot_7/pose" for estimating poses from lio-mapping, certain transformation between lidar and Twgt is missing. Transformation in ReadME.md packed inside dataset won't work. Can you please provide this transformation? Thank you.

hyye commented 4 years ago

Hi @windwolf9, you may consider aligning two trajectories using the alignment tools from rgbd-dataset/tools.