Skip to content

Fix undistortion and improve ego-motion initialization

Nicolas Cadart requested to merge fix/undistortion into master
  • Use timestamps to extrapolate current ego-motion from previous motion.
  • As this extrapolation is generally precise enough, set ego-motion registration as optional.
  • Fix undistortion : 2 modes are available, approximated or optimized.
  • Major acceleration of Ceres cost functions (~40%).
  • Clean MotionModel.h/.cxx by removing old unused and deprecated stuff.
Edited by Nicolas Cadart

Merge request reports

Loading