Comments (1)
mfehr
commented on May 29, 2024
@goldbattle the imu-camera-synchronizer is only used by the maplab components (localization and map building) of ROVIOLI, but not in ROVIO. ROVIO takes the raw sensor measurements. IMO adding this offset as early as possible in the flow would be preferred, i.e. in the data source logic (datasource-rosbag and datasource-rostopic) or one level above (once for ROVIO and once for the imu-cam sync which is needed for maplab).
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