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!
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_
inThreadedKFVio.cpp
with theaddImage()
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!