What is the params of R_W2NED in .yaml file?

[Cc19245]

Hi, thanks for your great work!

I'd like to know what is the param of 'R_W2NED' in config yaml file? I found it's used in here for changing the IMU quaternion to LiDAR quaternion. But in the origin LIO-SAM, there is no this param. Is this parameter related to your IMU?

[brytsknguyen]

Hi,

That param is to convert between the inertial frames. From the NED with downward-pointing z to W with upward pointing z. It can make visualization better.

Also if i remember correctly LIO-SAM has a bug where if the inertial frame has the z pointing downward the preintegration can be unstable so I add the param to make it more adaptable to different scenarios.