Method PcHandler

src/SensorSync.cpp:216–260

    }

    void PcHandler(const sensor_msgs::PointCloud2::ConstPtr &msg, int idx, int stamp_type)
    {
        double startTime = -1, endTime = -1;
        if (stamp_type == 1)
        {
            startTime = msg->header.stamp.toSec();
            endTime = startTime + 0.1;
        }
        else
        {
            endTime = msg->header.stamp.toSec();
            startTime = endTime - 0.1;
        }

        // Convert the cloud msg to pcl
        CloudOusterPtr cloud_inL(new CloudOuster());
        pcl::fromROSMsg(*msg, *cloud_inL);

        // Transform to the body frame
        CloudXYZITPtr cloud_inB(new CloudXYZIT());
        for(int i = 0; i < cloud_inL->size(); i++)
        {
            PointOuster &point_inL = cloud_inL->points[i];

            // Discard of the point if range is zero
            if (point_inL.range < min_range)
                continue;

            Vector3d p_inL(point_inL.x, point_inL.y, point_inL.z);
            p_inL = R_B_L[idx]*p_inL + t_B_L[idx];

            PointXYZIT point_inB;
            point_inB.x = p_inL(0);
            point_inB.y = p_inL(1);
            point_inB.z = p_inL(2);
            point_inB.intensity = point_inL.intensity;
            point_inB.t = point_inL.t / 1e9;

            cloud_inB->push_back(point_inB);
        }

        lidar_buf_mtx.lock();
        lidar_buf[idx].push_back(CloudPacket(startTime, endTime, cloud_inB));
        lidar_buf_mtx.unlock();
    }

    void ImuHandler(const sensor_msgs::Imu::ConstPtr &msg)
    {