Values ​​in the trajectory file

[LiberamSL]

Hi, when we export the final trajectory in LAZ format, the fourth field is equivalent to GPS_TIME, if I'm not mistaken.
We're not able to understand these values, which appear to be in nanoseconds. Is it possible they're not nanoseconds? What type of reading/format is it? We want to use the value to combine it with videos, so it would be great if the first value started at 0.

X Y Z Gps_time
15.03545475 -50.93490219 43.21099854 62194108109999996928.000000
15.03404808 -50.93666840 43.21456528 62199973680264151040.000000
15.03132439 -50.93677521 43.21598434 62204196510363189248.000000

[michalpelka]

Hello, What exact tool was used to produce those LAZ files?

In most basic setup Mandaye uses hardware timestamps from Livox Lidar. You should expect timestamps added to laz files from Mandaye Raspberry Pi in seconds in GPS_TIME field.

[LiberamSL]

Hi Michał! I used the following steps:

1. lidar_odometry_step_1
2. multi_view_tls_registration_step_2
   2.1. Save all marked trajectories to laz (as one global scan)