time_keeper.hpp

#pragma once
 
#include <optional>
#include <glim/util/raw_points.hpp>
 
namespace glim {
 
struct PerPointTimeSettings {
public:
  PerPointTimeSettings();
  ~PerPointTimeSettings();
 
  bool autoconf;       
  bool relative_time;  
  bool prefer_frame_time;
  double point_time_scale;  
};
 
class TimeKeeper {
public:
  TimeKeeper();
  ~TimeKeeper();
 
  bool process(const glim::RawPoints::Ptr& points);
 
  bool validate_imu_stamp(const double imu_stamp);
 
private:
  void replace_points_stamp(const glim::RawPoints::Ptr& points);
  double estimate_scan_duration(const double stamp);
 
private:
  PerPointTimeSettings settings;
 
  double last_points_stamp;  
  double last_imu_stamp;     
 
  // Scan duration estimation
  double estimated_scan_duration;             
  std::vector<double> scan_duration_history;  
 
  double point_time_offset;  
};
 
}  // namespace glim