Comments (2)
patripfr
commented on June 3, 2024
The issue was that in the current version, the IMU accelerations are automatically scaled by gravity (which makes sense if the internal IMU of the livox is used). However, the sequence above does not provide the livox imu so I had to use another one, where the IMU values are not normalized by gravity.
I added a PR to add a flag to select if the IMU values are normalized.
from direct_lidar_inertial_odometry.
kennyjchen
commented on June 3, 2024
Sorry for the late response โ makes sense! Thanks for the PR.
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