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if (dt_bi == 0) laserCloudtmp->push_back(pt);
double ratio_bi = dt_bi / dt_be;
/// Rotation from i-e
double ratio_ie = 1 - ratio_bi;


Eigen::Vector3d rso3_ie = ratio_ie * rso3_be;
SO3d Rie = SO3d::exp(rso3_ie);


/// Transform to the 'end' frame, using only the rotation
/// Note: Compensation direction is INVERSE of Frame's moving direction
/// So if we want to compensate a point at timestamp-i to the frame-e
/// P_compensate = R_ei * Pi + t_ei
Eigen::Vector3d tie = ratio_ie * tbe;
// Eigen::Vector3d tei = Eigen::Vector3d::Zero();
Eigen::Vector3d v_pt_i(pt.x, pt.y, pt.z);
Eigen::Vector3d v_pt_comp_e = Rie.inverse() * (v_pt_i - tie);


/// Undistorted point
pt.x = v_pt_comp_e.x();
pt.y = v_pt_comp_e.y();
pt.z = v_pt_comp_e.z();

}
}

laserCloudTemp is only filled if dt is 0. Distorted points are never pushed back.

Hi, thank you for this great work,
I found that I need to compile with c++14 where I have libpcl-dev 1.10.0 on my Ubuntu 20.

dekew

Livox Dev Team
BSD
Livox Dev Team

<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>livox_ros_driver</build_depend>
<build_depend>eigen_conversions</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>pcl_ros</build_depend>

<run_depend>sensor_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>livox_ros_driver</run_depend>
<run_depend>eigen_conversions</run_depend>
<run_depend>pcl_conversions</run_depend>
<run_depend>pcl_ros</run_depend>

q_il, t_il means imu is base frame? and for Horizon should be set "1, 0, 0, 0, 0.05512, 0.02226, -0.0297 " ?

The Intensity values in the pointcloud, published by the livox_repub.cpp node are incorrect.
Due to this line you use the line number to compute the intensity:
float s = livox_msg->points[i].offset_time / (float)time_end; pt.intensity = livox_msg->points[i].line + s*0.1; // The integer part is line number and the decimal part is timestamp
https://github.com/Livox-SDK/livox_cloud_undistortion/blob/d4df84681c075f5d2d5a9c677bef54c9a4a5d33e/src/livox_repub.cpp#L26C7-L26C125

Why not just using the curverture field?

I have a rosbag recorded by Livox HAP (CustomMsg), which includes two topics: "/livox/lidar" and "/livox/imu". I used rosbag play xx.bag after roslaunch livox_distration_pkg run. relaunch, but there was no result.

为什么经过矫正的点云时间戳与原始输入点云的时间戳不同？