Pcap and SLAM poses timestamps different by 2hrs

LidarView, Lidar, and SLAM
1

Hi,

My PCAP has timestamps from 1684954507.791-1684954532.807, but when I run SLAM on the PCAP my resulting trajectory (.poses) file has timestamps 1684947304.74-1684947329.736.

There is basically a 2hr (7200sec) difference between the input PCAP timestamps, and the output trajectory timestamps.

Any idea why this is happening?

Chris

2

I have just noticed that the timestamp in the player bar is different to the timestamp in the data arrays field under information. So it looks like the PCAP and the poses file do match, and it’s the player timestamp that is different for some reason.

3

Hi Chris,

The pcap on top is the packet network time (when the packet was received) whereas timestamp on point information is given by the LiDAR. In your case the difference must come from a different time zone between the LiDAR internal clock and your location.

You can have the same time for both if you wish with the display packet time property:

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Hope this helps,