Kenny Chen

There were some LiDARs (e.g., Livox) which I realized had a constant time offset between the point cloud and it's internal IMU, and adding this offset pseudo-synchronized them. You could...

@hatem-darweesh -- Please see the following article regarding the SM matrix https://www.vectornav.com/resources/inertial-navigation-primer/specifications--and--error-budgets/specs-imucal You can calibrate for it using packages like [kalibr](https://github.com/ethz-asl/kalibr)

Good point -- technically yes they represent the transformation from sensor to baselink. Sorry for the confusion.

Yes, a non-360 FOV can definitely affect how submapping is done in DLO.

You probably could use it, but I'd imagine the performance will be pretty poor unfortunately. DLO is optimized for 3D point clouds with 360 FOV.

You can essentially edit the code so that it loads in a PCD, sets it as the first (and only) keyframe, and disables tracking of subsequent keyframes.