removed adding of camera-imu time offset to state propagation times t…

…o prevent jumping odometry output
ctu-mrs · Aug 14, 2024 · 89160b4 · 89160b4
1 parent ca92095
commit 89160b4
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/ov_msckf/src/state/Propagator.cpp b/ov_msckf/src/state/Propagator.cpp
@@ -150,8 +150,10 @@ bool Propagator::fast_state_propagate(std::shared_ptr<State> state, double times
   }
 
   // First lets construct an IMU vector of measurements we need
-  double time0 = cache_state_time + cache_t_off;
-  double time1 = timestamp + cache_t_off;
+  /* double time0 = cache_state_time + cache_t_off; */
+  /* double time1 = timestamp + cache_t_off; */
+  double time0 = cache_state_time;
+  double time1 = timestamp;
   std::vector<ov_core::ImuData> prop_data;
   {
     std::lock_guard<std::mutex> lck(imu_data_mtx);
@@ -1013,4 +1015,4 @@ Eigen::MatrixXd Propagator::compute_H_Tg(std::shared_ptr<State> state, const Eig
   Eigen::MatrixXd H_Tg = Eigen::MatrixXd::Zero(3, 9);
   H_Tg << a_1 * I_3x3, a_2 * I_3x3, a_3 * I_3x3;
   return H_Tg;
-}
+}