Transformation form LIDAR to IMU, and Front Camera to IMU

[eunseon02]

HI, I am using the TartanAir dataset for my sensor fusion project.
TartanAir docs said that LiDAR and IMU are perfectly aligned with the left camera,
but when I run a LiDAR–IMU odometry algorithm with the LiDAR-to-IMU extrinsic set as the identity matrix, I observe a huge drift.

[jeremiasbaur]

Where did you find the IMU data?