May be we can integrate the method of <Robust and Online LiDAR-inertial Initialization.pdf> to initialize.

[qpc001]

[Huguet57]

Hey, it's a great idea! It should be easy to add time offset(s) to the buffers so when getting data from t1 to t2 then it's corrected.

Now I have been taking some days off since my comeback to Barcelona but I am planning on adding an "Initializator" module to group all the annoying special cases of the beginning of the algorithm.