OdometryThread: Updated logic on how to sync imu and sensor data (to make sure odom has always all IMUs it needs prior to process images)

2026-10-08 02:57:46 +08:00 · 2025-06-29 17:00:12 -07:00
parent c9292bea5b
commit 963ba42a1a
5 changed files with 51 additions and 27 deletions
@@ -67,8 +67,8 @@ private:
 	unsigned int _dataBufferMaxSize;
 	bool _resetOdometry;
 	Transform _resetPose;
-	double _lastImuStamp;
-	double _imuEstimatedDelay;
+	double _oldestAsyncImuStamp;
+	double _newestAsyncImuStamp;
 };

 } // namespace rtabmap