Confused with gravity initialize

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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Confused with gravity initialize #82

Open LeisureLei opened 3 years ago

LeisureLei commented 3 years ago

Hi @hyye , I am confused with the gravity initialization in function ApproximateGravity() which is different from vins-mono. Can you offer some ideas to understand?