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HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator
GNU General Public License v3.0
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the freq of the odometry is wrong with the camera fps when using mult_thread and stereo? #175

Closed luobodan closed 2 years ago

luobodan commented 2 years ago

Hello! I was struck in the frequncey of the output odometry when I turn on the mult_thread with stereo or stereo_imu vins-fusion.When I using the 30fps and 15fps camera , it just output the odometry with 15hz and 7.5hz, using rostopic hz . And after the camera open a few time, the delay of the output also begin to appear , I just think the picture was pushed back to the sequence or buffer area and they stack more and more?? how to fix this problem? I just want to free the output freq and make it in sync with the camera fps?

I read the code , " if(bababa%2)" in estimitor_node, is this make it wrong?

thanks you very much!

Pallav1299 commented 2 years ago

@luobodan, have a look at this.

luobodan commented 2 years ago

@luobodan, have a look at this.

thank you！