constructed map is very slanted

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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constructed map is very slanted #74

Open eminbogen opened 4 years ago

eminbogen commented 4 years ago

Hello, I used your program to run med-1 and my data with 16_scans_test.launch. But the constructed map is very slanted. Do you know why this is? Any suggestions for modification? 2020-07-17-02 2020-07-17-01

HTLife commented 3 years ago

I guess is that your LiDAR starting pose is tilted. And since you do now provide the IMU to estimated the gravity direction, this tilted map cannot be fixed.