Comments (2)
您好,
0. 前提假设:程序是为了实验性目的使用,触发信号发送、传感器接收等时间延迟直接忽略处理了;应用时假设短期在高性能平台上使用。
- gps、imu和lidar之间直接赋值时间戳,三者之间的时间同步可以有效保证,硬件带来的时间差异可以忽略(相比于未同步带来的时间偏差),特别对于低速应用的移动机器人等平台完全可以忽略影响;
- 相机的时间戳比较不稳定,目前的程序逻辑只能保证在算力比较好的平台上短时间内达到同步的效果(会存在大约5ms的滞后--与曝光时间、相机硬件等也有关系);我考虑了一下您提到的这个问题,工控机等算力较弱的平台,再加上ROS中间件,特别容易出问题;稳定的方法感觉加上一个下位机专门用于采集数据可能比较好,特别是可以支持中断触发的(中断判断触发信号发出,在设定固定时延内未收到相机图像,则判断跳帧等等);具体不是搞底层的,可能是一个思路,实现不太会哈。
希望有帮助,祝好!
from sync_gps_lidar_imu_cam.
您好:
您的解答和建议很有建设意义,衷心感谢您的回复,我会继续尝试。
再次感谢您的开源!
from sync_gps_lidar_imu_cam.
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