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Thank yo so much to update your code. I am confused about this function. Why is 'svd.matrixV().col(3)' equal to the extrinsic rotation between Lidar and IMU? Is there some supplementary material about this? Thank you so much.
Hi @icameling, you may find equation (6) in this paper helpful, and similarly the extrinsic parameter initialization in VINS-mono. The SVD is used for solving the final Ax = 0 problem.
The solution of Ax=0 is JPL , do we need to put real part first and then imaginary part when initializing the Eigen quaternion from a vector4d in code?
Thanks a lot!
Thank yo so much to update your code. I am confused about this function. Why is 'svd.matrixV().col(3)' equal to the extrinsic rotation between Lidar and IMU? Is there some supplementary material about this? Thank you so much.
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