start outputting data after static initialization#1171
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matlabbe merged 2 commits intointrolab:masterfrom Nov 28, 2023
Merged
start outputting data after static initialization#1171matlabbe merged 2 commits intointrolab:masterfrom
matlabbe merged 2 commits intointrolab:masterfrom
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When ZUPT is enabled, OpenVINS is initialized statically. However, the initialization flag of ov_msckf::VioManager will only become true after there is initial motion excitation. Therefore, RTAB-Map would not receive the data until the camera moved. After the fix, the system can get data earlier, while remaining stationary.
Pixel noise is restored to 1. If cameras and IMU are not perfectly synchronized, it may result in fewer feature points. At this time, online offset calibration should be enabled rather than increasing pixel noise. See #1151.