# FAQs

## I collected data with the wrong rover profile. Can this be corrected when post processing in LiDARMill?

Yes, you can correct any rotation and translation values when post processing in LiDARMill. In the Navlab pipeline, ensure that the IMU to Antenna lever arm offsets and the Body to IMU Rotations are corrected. In the Spatial Fuser pipeline, ensure that the LiDAR rotations and translations/offsets are corrected. Camera rotations and translations can also be corrected if applicable.

{% hint style="info" %}
If you don't have these values handy, the correct values could be obtained from past project reports and trajectory reports from pipelines you've ran with that desired profile. 
{% endhint %}

{% hint style="warning" %}
Please note that the OEM6 or OEM7 IMU orientation inputted into your rover profile is not the same as the NavLab or Inertial Explorer IMU to Body rotation.
{% endhint %}

## Can I start a Spatial Fuser pipeline before my NavLab pipeline is finished processing?

Yes, as soon as a NavLab pipeline is created, the succeeding Spatial Fuser pipeline can be created. Ensure to select the "Processing" post-processed trajectory as an input artifact when creating your Spatial Fuser pipeline.


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