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add timestamp unit setup

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xw
2022-03-13 17:46:05 +08:00
parent 8ad5dd2ba2
commit ad692a628c
8 changed files with 46 additions and 29 deletions
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1
config/ouster64.yaml
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@@ -6,6 +6,7 @@ common:
preprocess:
lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 64
timestamp_unit: 3 # 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 4
mapping:

3
config/velodyne.yaml
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@@ -7,7 +7,8 @@ preprocess:
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32
scan_rate: 10 # only need to be set for velodyne, unit: Hz,
blind: 4
timestamp_unit: 2 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 2
mapping:
acc_cov: 0.1