Jiaming Xu comments

Results 3 comments of


                                            Jiaming Xu

New Feature: Support for NTU-VIRAL Dataset

Hello, you probably didn't consider the extrinsic conversion between IMU and PRISM coordinate systems before comparing the accuracy. Please refer to the author's link for details: https://github.com/hku-mars/FAST-LIVO2/blob/main/Log/result/ntu_viral/evaluate_viral.py

雷达-相机的外参标定，lidar_camera_calib

过滤是根据采集标定数据时LiDAR和标定版之间的相对位置来确定的，具体的LiDAR坐标系如下图所示： ![Image](https://github.com/user-attachments/assets/f8647e91-e199-4ea9-b7fd-0d8a6c21192a)![Image](https://github.com/user-attachments/assets/588c25eb-3548-480c-b005-9ac662e17d07) 以LiDAR原点为圆心，FAST-Calib工程中qr_params.yaml里的x_min、x_max表示筛选出在LiDAR前方多远的距离范围，这个距离应该把标定板包含在内同时尽可能减少包含除标定板外的点，对y和z同理。根据你的实际数据包情况作调整。另外建议采集标定数据时LiDAR放置位置尽可能距离标定板2-3m左右。

支持禾赛xt32或速腾airy吗？

46ad5e7