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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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BsplineSE3.cpp timestamp_max Issue #280

Closed zhangyanyu0722 closed 1 year ago

zhangyanyu0722 commented 1 year ago

https://github.com/rpng/open_vins/blob/b12569c6697d1471da1523f1daec8c4f9e80f7fb/ov_core/src/sim/BsplineSE3.cpp#L54

Should it be if (pose.first >= timestamp_max) { ?

goldbattle commented 1 year ago

Yep! Nice catch! Old code probably still works as expected if the poses trajectory_points are sorted, but this should get fixed. Should probably also enforce the monotonic time / sorted poses also in that vector when reading from the file.

EDIT: the groundtruth poses in trajectory_points are stored in a MAP, thus are automatically sorted from oldest pose to newest pose.

goldbattle commented 1 year ago

I will keep this open till I fix it.