{"action":"opened","issue":{"url":"https://api.github.com/repos/RobustFieldAutonomyLab/LeGO-LOAM/issues/21","repository_url":"https://api.github.com/repos/RobustFieldAutonomyLab/LeGO-LOAM","labels_url":"https://api.github.com/repos/RobustFieldAutonomyLab/LeGO-LOAM/issues/21/labels{/name}","comments_url":"https://api.github.com/repos/RobustFieldAutonomyLab/LeGO-LOAM/issues/21/comments","events_url":"https://api.github.com/repos/RobustFieldAutonomyLab/LeGO-LOAM/issues/21/events","html_url":"https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/issues/21","id":359370923,"node_id":"MDU6SXNzdWUzNTkzNzA5MjM=","number":21,"title":"The kitti raw datasets's IMU data for your algorithm","user":{"login":"irobotDavinci","id":17939572,"node_id":"MDQ6VXNlcjE3OTM5NTcy","avatar_url":"https://avatars3.githubusercontent.com/u/17939572?v=4","gravatar_id":"","url":"https://api.github.com/users/irobotDavinci","html_url":"https://github.com/irobotDavinci","followers_url":"https://api.github.com/users/irobotDavinci/followers","following_url":"https://api.github.com/users/irobotDavinci/following{/other_user}","gists_url":"https://api.github.com/users/irobotDavinci/gists{/gist_id}","starred_url":"https://api.github.com/users/irobotDavinci/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/irobotDavinci/subscriptions","organizations_url":"https://api.github.com/users/irobotDavinci/orgs","repos_url":"https://api.github.com/users/irobotDavinci/repos","events_url":"https://api.github.com/users/irobotDavinci/events{/privacy}","received_events_url":"https://api.github.com/users/irobotDavinci/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-09-12T08:33:55Z","updated_at":"2018-09-12T08:33:55Z","closed_at":null,"author_association":"NONE","body":"Hi,I want to use the IMU data in kitti raw datasets to test lego ,just remap '/imu/data' to '/kitti/oxts/imu'\r\nbut it goes wrong when turn rotation on z axis.  For example：\r\n![2018-09-12 16-20-35](https://user-images.githubusercontent.com/17939572/45412159-95df4b00-b6a8-11e8-9c49-9e39d2a335bf.png)\r\n\r\n\r\nAnd When not use IMU data，it will be ok:\r\n\r\n![2018-09-12 16-21-17](https://user-images.githubusercontent.com/17939572/45412158-9546b480-b6a8-11e8-8b18-1c56f0a4947c.png)\r\n\r\nThe kitti raw datasets coordinate transform between velodyne and imu like this:\r\n![2018-09-12 16-28-08](https://user-images.githubusercontent.com/17939572/45412451-3897c980-b6a9-11e8-8003-c04ae4fbfc00.png)\r\n\r\nAnd in your datasets 2017-06-08-15-49-45_0.bag , the tf is like this:\r\n![2018-09-12 16-30-29](https://user-images.githubusercontent.com/17939572/45412497-5a914c00-b6a9-11e8-8dc9-c9e06fff57d8.png)\r\n\r\nCan help me what's wrong?\r\n\r\nBy the way, is there any doc about featureAssociate.cpp's detail. Thanks\r\n"}}
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