Livox-SDK/livox_cloud_undistortion

external parameter

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livox_cloud_undistortion/src/livox_dedistortion.cpp

Line 171 in d4df846

p_imu->set_T_i_l(q_il, t_il);

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 " ?