@@ -90,11 +90,15 @@ The user needs to prepare the point cloud data in the correct format for cloud d
- we need to set the readings of x-z acceleration and gyro negative to transform the IMU data in the lidar frame, which is indicated by "extrinsicRot" in "params.yaml."
- The transformation of attitude readings is slightly different. We rotate the attitude measurements by -90 degrees around "lidar-z" axis and get the corresponding roll, pitch, and yaw readings in the lidar frame. This transformation is indicated by "extrinsicRPY" in "params.yaml."
-**IMU debug**. It's strongly recommended that the user uncomment the debug lines in "imuHandler()" of "imageProjection.cpp" and test the output of the transformed IMU data. The user can rotate the sensor suite to check whether the readings correspond to the sensor's movement.
-**IMU debug**. It's strongly recommended that the user uncomment the debug lines in "imuHandler()" of "imageProjection.cpp" and test the output of the transformed IMU data. The user can rotate the sensor suite to check whether the readings correspond to the sensor's movement. A YouTube video that shows the corrected IMU data can be found [here (link to YouTube)](https://youtu.be/BOUK8LYQhHs).
