Question about the timestamps synchronization of the IMU data and LiDAR points

JonasBchrt / raw-gnss-fusion

Code, data, and results for fusing raw GNSS data with other sensing modalities

GNU Lesser General Public License v3.0

120 stars 23 forks source link

Question about the timestamps synchronization of the IMU data and LiDAR points #4

Closed lawrence-cn closed 1 year ago

lawrence-cn commented 1 year ago

Hello, Thank you very much for your opensource. The IMU data and LiDAR points come from different devices (HESAI XT32 and Bosch BMI0856), so how did you achieve the synchronization of their timestamps? Is there any synchronization pulse signal generated from external hardwares? Hope for your answer~

JonasBchrt commented 1 year ago

Brief answer: both devices support hardware time stamping and we synchronise clocks using PTP running on a Ubuntu machine to which both devices are connected via ethernet.

lawrence-cn commented 1 year ago

Thank you for your helpful answer!