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Huguet57 / LIMO-Velo

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs
GNU General Public License v2.0
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Offset time YAML parameter #15

Closed Huguet57 closed 2 years ago

Huguet57 commented 2 years ago

Added an optional YAML parameter to fix Issue #14.

Huguet57 commented 2 years ago

It is really important that LiDAR points have a time (or t, timestamp...) field with the time offsets with respect to the pointcloud stamp. An additional YAML parameter offset_begin has been added to decide whether the time offsets are with respect to the beginning of the rotation (i.e. ~ [0, 0.1]) or with respect to the end of the rotation (i.e. ~ [-0.1, 0]).

Usually Velodyne LiDARs opt for the former while Ouster opt for the latter. HESAI points have an absolute timestamp attach individually so this doesn't apply to HESAI.

Huguet57 commented 2 years ago

Added a parameter to determine if the stamp on the point cloud header corresponds to the beginning of the rotation (unusual) or corresponds to the end (usual).