fix: apply IMU extrinsic in get_body_cloud / get_body_cloud_down#1
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leshy wants to merge 1 commit into
Open
fix: apply IMU extrinsic in get_body_cloud / get_body_cloud_down#1leshy wants to merge 1 commit into
leshy wants to merge 1 commit into
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get_body_cloud()/get_body_cloud_down()returned the undistorted scan in the raw LiDAR/sensor frame, while odometry/tf reports the IMU pose — downstream registration is off by the extrinsic (~5 cm on a Mid-360).Transform each point LiDAR→IMU into a copy via the existing
RGBpointBodyLidarToIMU(nowconst), mirroring vanilla FAST-LIOpublish_frame_body/cloud_registered_body.feats_undistort/feats_down_bodyare untouched — the EKF still reads them.The
get_body_cloudgroundwork is otherwise kept as-is. dimos-side flake bump follows after merge.