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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Time Synchronization #65

Open limeng1523 opened 4 years ago

limeng1523 commented 4 years ago

Hi, could you tell me how can I synchronize the timestamp of xsens imu and a lidar(in hardware)? Thank you very much

hyye commented 4 years ago

Hi @limeng1523, perhaps the PPS signal from lidar can be used to trigger the Xsens (not 100% sure). Typically, IMU has a much higher frequency than lidar, the software synchronization (or constant time offset) is enough from my experience.