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Transform timestamp interpolation #34

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MoffKalast opened this issue Aug 27, 2023 · 0 comments
Open

Transform timestamp interpolation #34

MoffKalast opened this issue Aug 27, 2023 · 0 comments

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@MoffKalast
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Currently TF transforms are treated as latest-is-correct for rendering visualizers since only one set of values is cached, but this while easy to implement is not quite correct, especially for delayed laserscans which can then be rotationally out of sync.

The idea is to instead keep a short history of received transforms and their timestamps, then recreating one that matches by interpolating between the two nearest entries.
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@MoffKalast