Re: Hesai QT128 with Zed2i and external fused Odometry
Posted by aninath93 on Sep 11, 2023; 12:13am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9677.html
Thank you Mathieu, I appreciate you. I will apply this commit soon and let you know but that makes sense.
For Hesai,
I have added this code in MsgConversion.cpp, where I am capturing the field "timestamp" as Hesai channel has "timestamp" instead of "t" or "time" field.
I tried printing this on SDK of Hesai and looks like this is the issue, as they are sending "timestamp" of stamped cloud on this "timestamp" channel of pointcloud and its taking the time negative in this function above on the deskewing side of Rtabmap because of timestamp instead of offset time. So what I wanted to confirm was is in current code of deskewing for channel "t" or "time" at input side, is it needing a offset time from the header.stamp.sec in seconds (current_header_stamp_sec - timestamp_in_secs) ? from starting of 0,0.1,0.1233.........N time in seconds.nanosenconds format ?
I am still trying to fix there SDK driver, like below and have'nt implemented yet !
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9677.html
Thank you Mathieu, I appreciate you. I will apply this commit soon and let you know but that makes sense.
For Hesai,
I have added this code in MsgConversion.cpp, where I am capturing the field "timestamp" as Hesai channel has "timestamp" instead of "t" or "time" field.
I tried printing this on SDK of Hesai and looks like this is the issue, as they are sending "timestamp" of stamped cloud on this "timestamp" channel of pointcloud and its taking the time negative in this function above on the deskewing side of Rtabmap because of timestamp instead of offset time. So what I wanted to confirm was is in current code of deskewing for channel "t" or "time" at input side, is it needing a offset time from the header.stamp.sec in seconds (current_header_stamp_sec - timestamp_in_secs) ? from starting of 0,0.1,0.1233.........N time in seconds.nanosenconds format ?
I am still trying to fix there SDK driver, like below and have'nt implemented yet !
| Free forum by Nabble | Edit this page |