Now the imaging node will take into account the delays between when the camera takes its frames, receives them, and when the drone's pose estimate and gimbal attitude are received.
Also, now the imaging node logs the zoom level and attitude for each frame.
I tested everything in lab and it looks pretty much right, and nothing crashes. If the delays I set in are wrong, it'll just end up making the target estimates slightly off, but since we're logging everything at max rates now, we can play with the values after the fact to see what results in the best localization.
Summary
Now the imaging node will take into account the delays between when the camera takes its frames, receives them, and when the drone's pose estimate and gimbal attitude are received. Also, now the imaging node logs the zoom level and attitude for each frame.
I tested everything in lab and it looks pretty much right, and nothing crashes. If the delays I set in are wrong, it'll just end up making the target estimates slightly off, but since we're logging everything at max rates now, we can play with the values after the fact to see what results in the best localization.