Is it available to use not hard-sychronoized lidar camera system ?

[lovelychaean]

I have a spinning lidar (ouster) and camera, but we don't have hard-synchorizing board (STM32, ...)
Can I use this sensors for fast lvio2?

[ustc-flicar]

I have successfully run Fast-LIVO2 with a Velodyne HDL-32 LiDAR, a camera and xsens IMU:
https://github.com/ustc-flicar/ustc-flicar.github.io

Given that the Ouster LiDAR (with n internal IMU) is functionally similar, it should also be compatible with Fast-LIVO2 when used alongside a camera.

I recommend using an STM32 or FPGA for hardware synchronization, as accurate time sync is important for Fast-LIVO2’s performance.

[xuankuzcr]

Thanks @ustc-flicar for the explanation and the nice results. What he said is absolutely correct.
It’s recommended to use the hard-synchronized data, but if that’s not feasible, you can fill in the time_offset section in the config file and provide the correct time delay. This approach can still yield good results.