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AutonomousFieldRoboticsLab / SVIn

Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
GNU General Public License v3.0
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Images not being registered with "Frame delayed error (custom dataset) #10

Closed onurbagoren closed 1 month ago

onurbagoren commented 1 year ago

Hello,

I am working with a custom dataset structured similarly to the given dataset in the paper (i.e., synchronized image, IMU, sonar, etc.)

I am having trouble with the images being registered. It seems like the variable cameraMeasurementsReceived_ in ThreadedKFVio.cpp with the addImage() cannot add the image. I am unsure what inherently causes the images not to be added; I have attempted to debug this problem but cannot figure out what specific check in the code causes this problem.

The cameraMeasurementsReceived_ queue seems to be reaching the maximum allowed size as the images are discarded from the queue when a new camera frame is added. Despite being able to identify this, I am unsure about the root cause of not popping an image from the queue. Any advice or recommendations on what to check would be greatly appreciated!

onurbagoren commented 1 year ago

The Frame delayed error comes from the Subscriber.cpp file when addImage() returns false

joshi-bharat commented 1 year ago

Can you share the bag file with me?

joshi-bharat commented 1 month ago

Closing due to no communication.