From 0f29f6df095cd8f1d8f02d8c952f9515e74c4885 Mon Sep 17 00:00:00 2001 From: "k.koide" Date: Thu, 19 Sep 2024 10:49:20 +0900 Subject: [PATCH] fix pose jitters --- src/glim/util/trajectory_manager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/glim/util/trajectory_manager.cpp b/src/glim/util/trajectory_manager.cpp index 8a2c5f9b..381c2df3 100644 --- a/src/glim/util/trajectory_manager.cpp +++ b/src/glim/util/trajectory_manager.cpp @@ -35,7 +35,7 @@ void TrajectoryManager::update_anchor(double stamp, const Eigen::Isometry3d& T_w const double t0 = odom_stamps[idx - 1]; const double t1 = odom_stamps[idx]; if (t0 > stamp || t1 < stamp) { - T_world_odom = T_world_sensor * T_odom_sensor[idx].inverse(); + // T_world_odom = T_world_sensor * T_odom_sensor[idx].inverse(); return; }