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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Incorrect timestamp_unit for Velodyne config #132

Closed kennyjchen closed 2 years ago

kennyjchen commented 2 years ago

In config/velodyne.yaml, timestamp_unit should be 0 since Velodyne pointwise timestamps are in seconds, not microseconds. Thanks.

Ecstasy-EC commented 2 years ago

Thanks for your notice. The default time unit is set according to our tested datasets. You could modify it to fit your applications.

kennyjchen commented 2 years ago

Understood, thanks very much.

FYI for all -- the official ROS driver for Velodyne sensors timestamps points in units of seconds: https://github.com/ros-drivers/velodyne/blob/master/velodyne_pointcloud/src/lib/rawdata.cc#L655