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M2DGR.yaml中的激光-IMU平移外参是不是给反了？ #24

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504115681 opened this issue Jul 29, 2023 · 1 comment
Open

M2DGR.yaml中的激光-IMU平移外参是不是给反了？ #24

504115681 opened this issue Jul 29, 2023 · 1 comment

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@504115681
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M2DGR.yaml中，extrinsicRot和extrinsicTrans表示将IMU坐标系转换到激光坐标系的旋转和平移外参，以激光雷达为参考坐标系。从下图中可以看出，如果以激光雷达（3）为参考坐标系，IMU（5）原点位置应该是：[负数,接近0,负数]，而提供的平移外参为：[0.27255, -0.00053,0.17954]，是不是应该改为：[-0.27255, 0.00053,-0.17954]？
image
@YJZLuckyBoy
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是的，你写的是对的，这里坐标好像就是写反了

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@YJZLuckyBoy @504115681