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Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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timebase format #105

Closed mohd109 closed 2 years ago

mohd109 commented 2 years ago

Hello everyone, First of all, I should thank the Livox team for all of their valuable efforts. I want to connect LOAM and color assignment codes, so I have to synchronize different color frames and point cloud messages because the scanner is moving. In order to do so, I just need the correct timestamp based on the computer clock to match with externally captured images. I have a problem with the format of timebase. Can you describe how the timebase variable represents the time based on seconds? "livoxCloud.header.stamp.toSec()" will give me the relative time based on seconds, but I have to convert it to the system clock.

Thanks a lot.

kunnalparihar commented 2 years ago

@mohd109 You got any solution to the above issue

mohd109 commented 2 years ago

@kunnalparihar Both timestamp and timebase are in nanoseconds. But I didn't find any absolute time value in the file, so you have to get the accurate clock at the beginning of the recording manually.