Comments (3)
I have fixed the issue, turned out I set the wrong TF for the lidar to IMU. For those of you who are having this issue, you can use the formula here to help you to get the correct extrinsics parameters. And now my map looks great!
![Screenshot 2024-05-24 at 1 17 24 PM](https://private-user-images.githubusercontent.com/63445582/333504385-c837560e-8c45-450a-b828-cb02805a5c53.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjM4MzEwNTksIm5iZiI6MTcyMzgzMDc1OSwicGF0aCI6Ii82MzQ0NTU4Mi8zMzM1MDQzODUtYzgzNzU2MGUtOGM0NS00NTBhLWI4MjgtY2IwMjgwNWE1YzUzLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE2VDE3NTIzOVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTJhODMwNzRmM2MyMDMxZTM1ZDMzZDVkNDFhN2YwNWJlMzU4ODc5Y2ViYmM2Mzc5ZjI0NmI5MzIzZjM0ODNiZGEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.X40BYe6ANhW3U7Ry0Il6d5CDJYAam-w4v17040NrqF0)
![Screenshot 2024-05-24 at 3 13 43 PM](https://private-user-images.githubusercontent.com/63445582/333504558-dbd8f449-64cd-41ac-8e3b-c8de4fbc40c6.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjM4MzEwNTksIm5iZiI6MTcyMzgzMDc1OSwicGF0aCI6Ii82MzQ0NTU4Mi8zMzM1MDQ1NTgtZGJkOGY0NDktNjRjZC00MWFjLThlM2ItYzhkZTRmYmM0MGM2LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE2VDE3NTIzOVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTM1YzY1YjMyOGIwZTk2Yzc0NzUxYWY4MDQ5ZTgzNDRmYzM2NTMxNjg3Y2EyNjRlMThmYWEwMDliZjI2ZDMwNTEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.i_HWIpiy-ZuskHCwM8RZnVD2gmis11L3CMtVqh7xc_Q)
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Hello, how did you calculate those matrix? what is theta?
from lio-sam.
Hello, how did you calculate those matrix? what is theta?
Hi, theta is the angle transform from the lidar to IMU. If your IMU is placed 180 degree in the Z axis (yaw) from your lidar frame, then you can update the rotation matrix for R(z).
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