Is sensors' hard synchronization necessary? about pv-lio

[HViktorTsoi]

Hi, it would be best (and we strongly recommend) if you could provide hard synchronization. If that's really not possible, you could try setting time_sync_en to True in the config yaml files. While the algorithm would still run, its performance under fast motion or other extreme conditions cannot be guaranteed.

You may refer to the issues in FAST-LIO, many of which are about hardware synchronization.

[msusing]

Thank you for your reply. Doe it mean after turn on time_sync_en I need to specify a time offset?

[HViktorTsoi]

No, with time_sync_en set to true, it will automaticly estimate the approximate offset between LiDAR and IMU.

We keep the time_offset parameter in the code for debugging, if you are sure that the time offset between LiDAR and IMU remains constant, you may set time_sync_en to false and then set the known time_offset parameter from your setup.