Lidar timestamps offset
Hi,
I'm using the following code to get the timestamp of a lidar point:
scale = 105000.0 / 32767.0
relative = ((blue_channel.astype(np.uint16) << 8) | green_channel).view(np.int16)
point_ts_us = reference_timestamp + relative.astype(np.float32) * scale
I'm taking ego motion trajectory and project all points into odometry frame defined by ego motion (with proper interpolation of ego motion trajectory for each point + extrinsics transform to get to chassis frame).
I'm getting the following overlay:
If I apply 100 millisecond offset (substracting 100 milliseconds from reference timestamp), I'm getting more crip overlay:
I've also compared this on video, overlaying pointclouds on images:
origin timestamps:
I have observed this issue on multiple clips, so I believe it is not issue with one particular clip, but some systematic error.
Could you please clarify if the code to get relative timestamp for the points is correct? Is it possible that there is an issue with exported reference timestamps for the lidar?