Timestamp Processing

The C++ backend (rko_lio::core::process_timestamps) tries to automatically decide whether a LiDAR timestamp sequence is absolute (already aligned to wall-clock time) or relative (offsets that must be shifted by the message header time). If the data cannot be confidently classified as either, a std::runtime_error is thrown:

Runtime Error: TimestampProcessingConfig does not cover this particular
case of data. Please investigate, modify the config, or open an issue.

When this error occurs, you can potentially adjust the timestamps section of your configuration file to fix the issue. Specifying one of force_absolute or force_relative should do the trick.

Example (default configuration)

your other configuration keys here
timestamps:
  multiplier_to_seconds: 0.0
  force_absolute: false
  force_relative: false

Description of parameters

• multiplier_to_seconds:

  Factor applied to raw timestamp values to convert them to seconds. Secondsd and nanoseconds are detected automatically when this is 0.0 (default). Specify this for any other case. For example, if timestamps are in microseconds, use 1e-6.

• force_absolute:

  If set, timestamps are always treated as absolute, bypassing heuristics.

• force_relative:

  If set, timestamps are always interpreted as relative to the LiDAR message header time, bypassing heuristics.

Note

First, absolute timestamps are checked for. Then, relative. If the heuristics are still not satisfied, then the above described error is thrown.