pratro

Odom publishes apriori estimate?

2

Dear Koide3, Is there a reason why the callback to on_new_frame happens before the fused estimate is computed? (before call to update_smoother) https://github.com/koide3/glim/blob/46c489e345a38ae6c06fb136000d0ce10d03fc7b/src/glim/odometry/odometry_estimation_imu.cpp#L307 The transforms in the above frame passed...

Lidar camera model distortion coeffs left 0

1

How is the lidar distorted using the camera distortion coeffs (or alternatively how is the camera undistorted) prior to feature creation and matching? In preprocess.cpp, the distortion coeffs are not...