nebula-odometry-dataset
nebula-odometry-dataset copied to clipboard
Published
20 hours ago •
NeBula-Autonomy
NeBula-Autonomy
Inconsistent imu orientation
Hi there,
while sequences A and C have an upright imu orientation for topic /husky4/vn100/imu_wori_wcov, it seems to be flipped onto its head on sequence F. In all cases the messages have frame_id husky4/baselink.
This does not seem to pose a problem for locus (as it only uses the delta in locus.cc), but other algorithms (e.g. LIO-SAM) use the orientation for initialization etc.
As far as I have seen the data was not only transformed from imu to baselink but also filtered.
Could you also provide the code used to convert /husky4/vn100/imu to /husky4/vn100/imu_wori_wcov ?
Best, Jan
