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HViktorTsoi / PV-LIO

A probabilistic voxelmap-based LiDAR-Inertial Odometry.
GNU General Public License v2.0
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robosense timestamp #1

Closed chengwei0427 closed 1 year ago

chengwei0427 commented 1 year ago

Hi, @HViktorTsoi Thanks for your nice work! I'm confused about the robosense data you shared, whether the header timestamp is frame head or frame end?

HViktorTsoi commented 1 year ago

Hi, the raw data of robosense is collected from an old rs16 LiDAR with earlier version of the LiDAR driver, the msg timestamp is mostly the time of the last points in 1 frame, but the points in 1 frame may not be stored in order in some circumstances, therefore we write a converter to handle this. In the converted point cloud msg, the msg header timestamp is the time of the earliest point in 1 frame.

HViktorTsoi commented 1 year ago

The converter basically conver the robosense point cloud to a standard velodyne point cloud format, you may refer to this repo https://github.com/HViktorTsoi/rs_to_velodyne

HViktorTsoi commented 1 year ago

If you are testing the shared data with your own algorithm, you may run the converer node alone, and then use the converted point cloud msg and the raw imu msg for testing.

chengwei0427 commented 1 year ago

Hi, Dear author, The frame header timestamp is frame end, and I can run my program with the shared data successful. image Problem solved! Thanks again.