Code question

[hello299]

Hello ,I got a problem:
in the code ,you use the curvature to represent the timestamp( );
Is it mean that equal curvature have equal timestamp? but the lidar scan even the curvature is the same but the timestamp is different,I don't know this code setting
can you give me some instruction? thank you

[hello299]

And I will be gratitude if you give me some instruction why point cloud can have equal timestamp ,I don't know

[patripfr]

Hi,
I just reused this code from FAST-LIO2. This field does not represent any curvature in the mathematical sense and is simply used to store the time.
Points can have the same timestamp if they were triggered on the lidar at the same time. The lidar can capture multiple points simultaneously.