Comments (3)
Weird! As seen in lines 108-112 of the Accumulator initialization:
LIMO-Velo/src/Modules/Accumulator.cpp
Lines 108 to 112 in 57f3205
It's supposed to initialize when enough IMU samples have been gathered - and then set initial_time
(which in turn, sets initial_state
's time).
Making the first IMU trivially older than the first State. Weird that it happens... And I don't think you delete IMU data anywhere...
from limo-velo.
But upsample is called by the Compensator::path()
which will only get a portion of IMUs and States.
If I am not mistaken this piece of code ensures that the oldest state passed to the Compensator::upsample()
is older than the older IMU passed to it as well (when doing states.push_front(accum.get_prev_state(t1));
). It also ensures that the latest IMU is later than the latest State
LIMO-Velo/src/Modules/Compensator.cpp
Lines 36 to 49 in 57f3205
It fells like this assert should have the first inequality changed from <=
to >=
LIMO-Velo/src/Modules/Compensator.cpp
Lines 71 to 73 in 57f3205
from limo-velo.
Now I see that the get
method gets from t1
to t2
included:
LIMO-Velo/include/Headers/Accumulator.hpp
Line 69 in 543d92e
So, in principle,
states.front().time
and imus.front().time
should be the same - if the state has been derived from an IMU timestamp (which I think always happens). Weird that it crashed your code.
I would vote against changing the inequality and more in favor of just removing (?) the first part. The idea was actually that the IMU stream spanned the State stream because then we can get a continuous upsampling (no large chunk from first state to first IMU).
It is more interesting to investigate why it's crashing the code. For now, commenting it doesn't seem to be dangerous.
from limo-velo.
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from limo-velo.