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ethz-asl / hand_eye_calibration

Python tools to perform time-synchronization and hand-eye calibration.
BSD 3-Clause "New" or "Revised" License
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something about function calculate_time_offset #88

Closed szzadkk closed 5 years ago

szzadkk commented 5 years ago

Get the two mean time steps. Take the smaller one for the interpolation.

dt_A = np.mean(np.diff(times_A)) dt_B = np.mean(np.diff(times_B)) if dt_A >= dt_B: dt = dt_A else: dt = dt_B I note that the comment take the smaller one, but the code takes the bigger one....

bacalfa commented 5 years ago

Same thing appears to happen in function compute_aligned_poses (note the >= sign):

https://github.com/ethz-asl/hand_eye_calibration/blob/5e2b6c9f0ec93ecf5a67d71a2d9eb647ac47adad/hand_eye_calibration/python/hand_eye_calibration/time_alignment.py#L240-L250

bacalfa commented 5 years ago

Actually, frequency is the inverse of time. So "lower frequency" means <= when comparing arrays in the time domain.

szzadkk commented 5 years ago

Actually, frequency is the inverse of time. So "lower frequency" means <= when comparing arrays in the time domain.

I made a mistake, and get it now, thank you!