add the ability to generate M2Mapping data directly#1
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Added the ability to generate M2Mapping data directly, after running it you can get the image, point cloud and the pose file in the Log/Colmap folder.
My lidar has hardware time synchronization with the camera, so the data is combined directly in the handleLIO function and then processed in a new thread.
I compared the odometer data to the saved pose file and the values are equal.