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卡尔曼get_x的state_point 内成员的变换 #81

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huangwentao123 opened this issue Jul 11, 2024 · 0 comments
Open

卡尔曼get_x的state_point 内成员的变换 #81

huangwentao123 opened this issue Jul 11, 2024 · 0 comments

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@huangwentao123
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我的任务场景只需要处理平地的点云数据，所以在Mapincremental 中对scan_down_body 根据Z进行了过滤，但过滤前后，run 函数中的state_point.pos rot 甚至 state_offset_T_L_I都发生了变换，pos 和 rot是由于卡尔曼根据lidar 做的预测吗？所以会变化，但state_offset_T_L_I应该是lidar 到imu的平移向量啊，为什么会变化呢？
请问高博有没有什么好的建议？？万分感激！
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