Feature Request: Account for ego motion during one rotation of the sensor

[robosense-lidar]

Feature Request: Account for ego motion during one rotation of the sensor

[HaoQChen]

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?

[TillBeemelmanns]

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).