Theoretical question regarding global vs rolling shutter behaviour and accounting for it with ZED2 and D455 about open_vins HOT 2 OPEN

to put it better, how does zed2 perform so well although its a rolling shutter camera, I'm unable to reason out this part

from open_vins.

Why are you sure that the camera is the reason? The VINS system is primarily an inertial navigation system corrected by visual odometry, i.e. INS serves as a kind of battery analog for smoothing out visual odometry errors. So, I don't know about zed cameras, but the d455 uses the Bosch BMI 055 IMU and it is a bad and inaccurate sensor, and the synchronization of the camera and IMU leaves much to be desired. In datasets with stereo cameras, imu synchronization is used based on the average value of the camera shutter, i.e. they make an interruption at the start of the camera shutter charge and then find the average time value at the end of the charge, and this value is closer and more accurate than in the d455 (at least it was before) a time stamp is used only from the start of the camera shutter charge. But the exposure time is not a constant, it changes depending on the strength of the ambient light, therefore the delay between the real movement in the frame and the one received from the imu also changes, which leads to errors until openvins adjusts to the new delays (lighting conditions).

from open_vins.