Comments (2)
You mean provide time stamp for each point? This has been implemented, you can add a timestamp
member to your pointcloud class
ego motion need motion data like IMU, or you mean provide an interface for user to add there motion data?
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I don't mean the timestamp.
I am considering the case when the driver is used by ROS. The ego motion can then be provided by the ROS TF2 Transform package, by setting up a tf2_ros::TransformListener
which buffers the transformations that occurred during one revolution of the LiDAR. These transforms can then be used to transform the points of each package to a single fixed frame at specific timestamp (e.g. the timestamp of the last package).
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