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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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About imu state propagation.... #66

Closed yooooki closed 5 years ago

yooooki commented 5 years ago

Did you mean "propagate" when you wrote "propogate", or it's just an equivalent spelling? For example, in file msckf_vio.cpp, line 378:

  // Propogate the IMU state.
  // that are received before the image msg.
  ros::Time start_time = ros::Time::now();
  batchImuProcessing(msg->header.stamp.toSec());
  double imu_processing_time = (
      ros::Time::now()-start_time).toSec();