feat: add lidar_latency

Signed-off-by: kminoda <[email protected]>

perception_dataset/rosbag2/converter_params.py

@@ -53,6 +53,7 @@ class Rosbag2ConverterParams(BaseModel):
     camera_latency_sec: float = (
         0.0  # camera latency in seconds between the header.stamp and shutter trigger
     )
+    lidar_to_camera_latency_sec: float = 0.03  # lidar to camera latency in seconds. For example in XX1 the latency is 0.03 sec due to the offset between top and the other LiDARs.
     system_scan_period_sec: float = 0.1  # system scan period in seconds
     timestamp_diff: float = 0.15
     topic_list: list = []  # topic list for input_bag

perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py

@@ -105,6 +105,7 @@ def __init__(self, params: Rosbag2ConverterParams) -> None:
         self._without_compress: bool = params.without_compress
         self._system_scan_period_sec: float = params.system_scan_period_sec
         self._camera_latency: float = params.camera_latency_sec
+        self._lidar_latency: float = params.lidar_latency_sec
         self._start_timestamp: float = params.start_timestamp_sec
         self._data_type: DataType = params.data_type
         self._ignore_no_ego_transform_at_rosbag_beginning: bool = (
@@ -604,7 +605,7 @@ def _convert_image(
             synced_frame_info_list = misc_utils.get_lidar_camera_synced_frame_info(
                 image_timestamp_list=image_timestamp_list,
                 lidar_timestamp_list=lidar_timestamp_list,
-                lidar_to_camera_latency_sec=self._camera_latency,
+                lidar_to_camera_latency_sec=self._lidar_latency + self._camera_latency,
                 system_scan_period=self._system_scan_period_sec,
                 accept_frame_drop=self._accept_frame_drop,
                 num_load_frames=self._num_load_frames,