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utiasASRL / vtr3

VT&R3 is a C++ implementation of the Teach and Repeat navigation framework. It enables a robot to be taught a network of traversable paths and then closely repeat any part of the network.

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Limit CT-ICP pose interpolation to a fixed rate

keenan-burnett opened this issue · comments

commented

Instead of interpolating the trajectory at the timestamp of each point, which is slow, interpolate the trajectory at a fixed rate specified in config file such as 100Hz or 1000Hz.

This should speed up the radar, lidar, and radar-to-lidar pipelines at the cost of some accuracy.