Conversion of lidar and IMU coordinate system about direct_lidar_odometry HOT 4 CLOSED

DLO currently assumes that IMU and LiDAR coordinate systems roughly coincide. I may add support for extrinsics into DLO in the future, but for now try mounting your IMU upside-down so that it points forward-left-up (ROS convention) if possible. It's a bit hacky but it should work.

That being said, can you point out the issue in your map? It's a little hard to tell what is going on since all points are colored red. Thanks.

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Thank you for your reply. I will try your method again.
About your question: this picture is the part of the map I built. The picture below is the whole map. This is the result of adjusting the parameters. The map is tilted as a whole. But the two floors are relatively parallel. Do you have any good adjustment suggestions for this situation?

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If the floors are relatively parallel (which they look like they are), but the whole map is tilted, it could be a bad initial position as we discussed here. Try starting from a level surface.

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Thank you for your reply and I will try again. Thanks for your good job and patience.

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