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Add new parameter: time offset between LiDAR and IMU.

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zfc-zfc
2022-08-24 21:06:01 +08:00
parent 342d36157e
commit 99c462a36b
5 changed files with 15 additions and 3 deletions
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4
config/velodyne.yaml
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@@ -2,7 +2,9 @@ common:
lid_topic: "/velodyne_points"
imu_topic: "/imu/data"
time_sync_en: false # ONLY turn on when external time synchronization is really not possible
time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
# This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
preprocess:
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32