Sean McCarthy

icon indicating a website link https://seandmccarthy.github.io/

icon location Sydney, Australia icon location Software developer, hardware hacker.

Results 1 issues of Sean McCarthy

Question: Is the first lidar frame discarded?

Just checking my understanding the code. The main [ProcessLoop](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process_node.cpp#L113) calls [ImuProcess::Process](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process.cpp#L89) at 1 second intervals. However, the first time ImuProcess::Process is called, [b_first_frame_](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process.cpp#L99-L114) is true, so it assigns `last_lidar_` and...