- # the preintegrated Lidar states at the time of IMU measurements in a frame
- float64 offset_time # the offset time of IMU measurement w.r.t the first lidar point
- float64[3] acc # the preintegrated total acceleration (global frame) at the Lidar origin
- float64[3] gyr # the unbiased angular velocity (body frame) at the Lidar origin
- float64[3] vel # the preintegrated velocity (global frame) at the Lidar origin
- float64[3] pos # the preintegrated position (global frame) at the Lidar origin
- float64[9] rot # the preintegrated rotation (global frame) at the Lidar origin
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