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KumarRobotics / ouster_decoder

A low latency decoder for Ouster Lidars
BSD 3-Clause "New" or "Revised" License
17 stars 9 forks source link

Various improvements that need to be tested #3

Closed versatran01 closed 2 years ago

versatran01 commented 2 years ago
  1. Rework decoding logic, fix a bug in destagger mode.
  2. Further speed up by decoding data directly into messages instead of cv::Mat and pcl::PointCloud and then covert them to ros messages. Latency is now <0.15 ms compared to 0.7ms earlier and ouster's latency is 3ms.
  3. Remove a bunch of unused config/cmake files.
  4. Improve README