Questions regarding building a pipeline to work on real-time data

[himadrir]

First of all great work and really appreciate it for making it public. I am looking to design a pipeline where it can work on real-time on LiDARs such as Ouster/Velodyne. I went through the code and it seems it does some batch loading, etc(correct me if I am wrong) to load the data. Could you give me some pointers or give me a high level overview about how do I go about doing this? Thanks!