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TouchDeeper / VIW-Fusion

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light
GNU General Public License v3.0
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What is td_wheel? #33

Closed awesomesiddhu closed 1 month ago

awesomesiddhu commented 2 months ago

Is td_wheel the time offset between IMU and Wheel? Or is it the time offset between Camera and Wheel? curTime = feature.first + td; curTime_wheel = curTime - td_wheel;

Is td_wheel calculated as the backward offset from IMU timestamp to wheel timestamp?

TouchDeeper commented 2 months ago

td_wheel is the time offset between IMU and Wheel, and curTime_wheel = curTime - td_wheel; you can refer to viwo_data_simulation for the usage of td_wheel