Questions in coordinate transformation

[goldenminerlmg]

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.