//利用IMU修正旋转量，根据起始欧拉角，当前点云的欧拉角修正#247
void PluginIMURotation()#248

代码中没有用Levenberg-Marquardt算法(L-M method)，用的是高斯牛顿法，虽然paper中说用的LM

halfpassed代表lidar扫描线是否旋转过半。但是点云中点的顺序并不是按时间读进来的啊。是否应该对每一条激光扫描线设置一个halfpassed变量呢。

你好，最近在看loam的源代码，卡在雅克比矩阵计算这块，想请问一下推导思路是怎样的，非常感谢

Hello,

Do you have an English version of your notes?

Thanks.

Hi , how can i solve this error:
RROR: cannot launch node of type [loam_velodyne/scanRegistration]: Cannot locate node of type [scanRegistration] in package [loam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod +x)

您好，对于arx、ary、arz的推导公式有些不理解，根据代码想不出求解公式，希望能获得您的帮助

Hi can you let me know the frame rotated ??

LaserMapping.cpp中 laserCloudCornerArray和laserCloudSurfArray感觉没有赋值进来，就直接使用了。
这两个指针，456行初始化了下
laserCloudCornerArray[i].reset(new pcl::PointCloud());
laserCloudSurfArray[i].reset(new pcl::PointCloud());
期间没有数据点加入，然后就直接在524行使用其进行赋值给其他点云指针。这里是不是缺少了把corn点云存到laserCloudCornerArray这种操作？而且我看有的版本代码中根本没有这个laserCloudCornerArray和laserCloudSurfArray。
pcl::PointCloud::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];//that's [i + 21 * j + 231 * k]
pcl::PointCloud::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k]

Hi author, Thanks for your work!
I am wonder how the coordinate transformation in point cloud distortion correction process. Did it firstly convert current point into the IMU coordinate(or world frame?), then integrate the measurements. Third calculated the relative pose and velocity (in world frame) between the current point and the first point . At last transform the relative measurements in Lidar coordinate, linear interpret and register every point in corresponding line? I don't know if I got the right order.