From 89160b4084a7983fc0ce1db820603f165e1364bc Mon Sep 17 00:00:00 2001 From: vasek Date: Wed, 14 Aug 2024 16:48:29 +0200 Subject: [PATCH] removed adding of camera-imu time offset to state propagation times to prevent jumping odometry output --- ov_msckf/src/state/Propagator.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/ov_msckf/src/state/Propagator.cpp b/ov_msckf/src/state/Propagator.cpp index 47879ecca..1cf042427 100644 --- 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, 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 prop_data; { std::lock_guard lck(imu_data_mtx); @@ -1013,4 +1015,4 @@ Eigen::MatrixXd Propagator::compute_H_Tg(std::shared_ptr 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; -} \ No newline at end of file +}