Closed JinXJinLeX closed 1 year ago
我们自己的数据集的imu坐标系是右前上, 修改了imucallback函数的这一处: imu_.dtheta[0] = imumsg->angularvelocity.y * imu.dt; imu_.dtheta[1] = imumsg->angularvelocity.x * imu.dt; imu_.dtheta[2] = (-1)imumsg->angular_velocity.z imu.dt; imu.dvel[0] = imumsg->linearacceleration.y * imu.dt; imu_.dvel[1] = imumsg->linearacceleration.x * imu.dt; imu_.dvel[2] = (-1)imumsg->linear_acceleration.z imu_.dt; 但不能成功运行,请问需要做哪些调整,感谢!
除了调整轴向,外参也要进行对应的调整。
我们自己的数据集的imu坐标系是右前上, 修改了imucallback函数的这一处: imu_.dtheta[0] = imumsg->angularvelocity.y * imu.dt; imu_.dtheta[1] = imumsg->angularvelocity.x * imu.dt; imu_.dtheta[2] = (-1)imumsg->angular_velocity.z imu.dt; imu.dvel[0] = imumsg->linearacceleration.y * imu.dt; imu_.dvel[1] = imumsg->linearacceleration.x * imu.dt; imu_.dvel[2] = (-1)imumsg->linear_acceleration.z imu_.dt; 但不能成功运行,请问需要做哪些调整,感谢!