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LIO_SAM_6AXIS建图时我发现地图绕x轴（底盘的前进方向）倾斜，我用的9轴的IMU，请大佬指导下 #95

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cuilongfei1231 opened this issue Nov 24, 2024 · 2 comments
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LIO_SAM_6AXIS建图时我发现地图绕x轴（底盘的前进方向）倾斜，我用的9轴的IMU，请大佬指导下 #95

cuilongfei1231 opened this issue Nov 24, 2024 · 2 comments
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GPS Initialization IMU preintegration LiDAR-IMU extrinsic

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@cuilongfei1231
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您好，感谢开源您的算法，我在机器人上开展了测试，LIO_SAM_6AXIS建图时我发现地图绕x轴（底盘的前进方向）倾斜，我用的9轴的IMU，LIO_SAM程序没有这个问题，请大佬指导下如何修正地图侧倾问题?
@JokerJohn
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@cuilongfei1231 这个issue应该能解答你的疑惑，如果你解决了，可以帮忙pull下代码吗，我直接合并。（最近比较忙，还没时间集中处理这些已知的bug）

@cuilongfei1231
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cuilongfei1231 commented Nov 29, 2024 •
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参照9改6 修改了没有用，LIO_SAM_6AXIS建图时 发现地图绕x轴（底盘的前进方向）倾斜， 用的9轴的IMU，请大佬有空看下怎么修改代码？，地图倾斜挺严重的。用LIO_SAM原始代码就没有这个问题
5bfd61469876581a2c101bd68405480
43ba5e169e24dd7eb7270311c4f37be

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@JokerJohn @cuilongfei1231