Lio. The extrinsic parameters in FASTLIO is defined as the LiDAR’s pose (position and rotation matrix) in IMU body frame (ie the IMU is the base frame) They can be found in the official manual FASTLIO produces a very simple software time sync for livox LiDAR set parameter time_sync_en to ture to turn on.
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LIOSAM uses this information to organize the point correctly in a matrix The ring number indicates which channel of the sensor that this point belongs to The definition of the point type is located at the top of “imageProjectioncpp” The uptodate Velodyne ROS driver should output this information directly Again if you are using other lidar sensors you may.
