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ethz-asl / rovio

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Delay of rovio #177

Closed zhuzunjie17 closed 6 years ago

zhuzunjie17 commented 6 years ago

recently i found that the pose of imuoutput_ is 2or3 frames later than the current input image. I am wondering why?

helenol commented 6 years ago

It takes time to process the images. The pose should have the correct timestamp, but yes, it will be in the past relative to the latest image, as the processing takes time.

zhuzunjie17 commented 6 years ago

Got it, Thanks.