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gtsam::Pose3 lidarPose = imuPose.compose(imu2Lidar); #14

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zs1013 opened this issue Dec 2, 2024 · 0 comments
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gtsam::Pose3 lidarPose = imuPose.compose(imu2Lidar); #14

zs1013 opened this issue Dec 2, 2024 · 0 comments

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@zs1013
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zs1013 commented Dec 2, 2024

请问src/lidar_odometry/imuPreintegration.cpp文件的378行（gtsam::Pose3 lidarPose = imuPose.compose(imu2Lidar); 中为什么使用imu2Lidar（也就是T_imulidar_lidar），而不是lidar2Imu（也就是T_lidar_imulidar），这里不是应该将imulidar坐标系下的位姿转换到lidar坐标系下么？
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