lidar_undisrtoriton

A header-only program of 3d lidar undistortion using 9-axis imu. separated from LeGO-LOAM.
The assumption is that the IMU center and the LIDAR center are aligned.

how to use

Initialization

#include <lidar_undistortion.hpp>

LidarUndistortion lidar_undistortion_;
double scan_period = ...; //The rotation period of lidar
lidar_undistortion_.setScanPeriod(scan_period);

when imu is received

Eigen::Vector3f angular_velo{...};
Eigen::Vector3f acc{...};
Eigen::Quaternionf quat{...};
double imu_time = ...;
lidar_undistortion_.getImu(angular_velo, acc, quat, imu_time);

when LIDAR scan is received

double scan_time = ...;
// output:cloud_ptr
lidar_undistortion_.adjustDistortion(cloud_ptr, scan_time);