rko_lio.dataloaders.sequencer module

class rko_lio.dataloaders.sequencer.LidarIMUSequencer(dataloader)

Bases: object

Wraps a dataloader and yields data in processing order: LiDAR frames only when sufficient IMU coverage is available (latest IMU.time > LiDAR.end_time). Maintains internal buffers and returns data sequentially.

Input format: (“imu”, {time, accel, gyro}) or (“lidar”, {start_time, end_time, scan, timestamps}) Output format: same as above but sorted as per imu_time and lidar_end_time