xuankuzcr
commented
1 year ago Hello,
Based on the code you provided, it seems that the sync_package() function discards lidar points and tries to keep the image buffer and lidar buffer synchronized when the number of lidar points in the current measurement is less than or equal to 1. In this case, it may be necessary to remove the corresponding timestamp from the time buffer to ensure that the timestamps stay aligned with the data. Therefore, adding a time_buffer.pop_front() after the lidar_buffer.pop_front() line might be necessary.
PengKunPROO
Hello! I'm learning slam and found fast-livo is an excellent work to fuse the camera and lidar.But in data processing stage,which I refer to the function sync_package, I got a little puzzled about this: if(meas.lidar->points.size() <= 1) { mtx_buffer.lock(); if (img_buffer.size()>0) // temp method, ignore img topic when no lidar points, keep sync { lidar_buffer.pop_front(); img_buffer.pop_front(); } mtx_buffer.unlock(); sig_buffer.notify_all(); // ROS_ERROR("out sync"); return false; }
I just wondering if we should keep the time buffer and lidar_buffer aligned when a frame has few points and we discard the points of this frame.Is there should add "time_buffer.pop_front()" below the lidar_buffer.pop_front() line?