Why is the vehicle's rotation information are unused?
liukang1811 opened this issue · 2 comments
liukang1811 commented
Why is the vehicle's rotation information are unused? I can't find how to add the rotation information。
KazNX commented
Hi @liukang1811 ,
I'm not sure what context you are referring to using the vehicle rotation, but I'm try provide some clarity. When providing rays to ohm, it is assumed that they are in a local mapping frame; i.e., that any vehicle transformation has already been applied. When using ohmpopX tools, the sample points and trajectory information are assumed to be in a global map frame. All in all, it's up to the user to ensure the data points are in the correct frame.
Hope this helps clean things up.
spark4160 commented
Closing due to inactivity, feel free to open again with more detail.