Add time threshold parameter and implement timestamp handling for pointcloud fusion#2
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sevocrear wants to merge 4 commits intoaseligmann:mainfrom
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…ntclouds in concatenation process
aseligmann
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Jul 6, 2025
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Hi @sevocrear, thanks for contributing!
This looks good. I've not tested this as I'm no longer maintaining this repo. I'll assume you have tested this added functionality.
- Please add a section to the readme describing the new parameter.
- Using a default value of 0.1 s would be a modification of default behaviour.
E.g. imagine the use case of a SLAM map updated at 1 Hz with live clouds appended to it at 10 Hz. The current default would not work well with this use case.
Let's instead extend functionality by changing the default to a higher value (infinity) to ensure backwards compatibility.
… logging for cloud transformations; Fix parent frame issue with output pcl; Resolve issue with ids (only first pcl was used)
…o reduce verbosity during processing.
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time_threshold- [double]Sets the maximum time difference allowed between pointcloud timestamps for synchronization and fusion.
Pointclouds with timestamps exceeding this threshold from the reference cloud will not be included in the concatenation.
Default value:
0.1seconds.