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HViktorTsoi / PV-LIO

A probabilistic voxelmap-based LiDAR-Inertial Odometry.
GNU General Public License v2.0
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Is sensors' hard synchronization necessary? #2

Closed msusing closed 1 year ago

msusing commented 1 year ago

Thank you for your work. I'm not familiar with the fast-lio series. I have a velodyne lidar and an independent IMU. But they are not hardware-wise synchronized. Is that OK to run the code?
Hope for your reply. Thank you very much.

HViktorTsoi commented 1 year ago

Hi, it would be best (and we strongly recommend) if you could provide hard synchronization. If that's really not possible, you could try setting time_sync_en to True in the config yaml files. While the algorithm would still run, its performance under fast motion or other extreme conditions cannot be guaranteed.

You may refer to the issues in FAST-LIO, many of which are about hardware synchronization.

msusing commented 1 year ago

Thank you for your reply. Doe it mean after turn on time_sync_en I need to specify a time offset?

HViktorTsoi commented 1 year ago

No, with time_sync_en set to true, it will automaticly estimate the approximate offset between LiDAR and IMU.

We keep the time_offset parameter in the code for debugging, if you are sure that the time offset between LiDAR and IMU remains constant, you may set time_sync_en to false and then set the known time_offset parameter from your setup.