zorattc / color_shine_mapping Goto Github PK

Respected researcher,
Thank you for your work. However, I have a few questions regarding some points that are not entirely clear to me. How do you handle the relationship between the extrinsics of different sensors? It seems that your work uses the SHINE-Mapping algorithm to train the SDF based on the LiDAR sensor, and then uses a color camera for texture learning. But it appears that you didn't perform the extrinsic transformation between the LiDAR and the camera? Another question is that the output of r3live seems to be the IMU pose, and it seems you didn't perform a transformation to use it directly for SDF learning. Is my understanding correct? Thank you once again for your work.
Yours
Qi Wu