What is the safeWarningTime_

0Jiahao commented 5 years ago

Hi! I am currently using ethz-asl/realsense/devel/d435i with realsense D435i. I firstly recorded a rosbag for kalibr calibration and received the following result:

===================
Reprojection error squarred (cam0):  mean 0.0160805955519, median 0.00884699898598, std: 0.0230406098339
Reprojection error squarred (cam1):  mean 0.0141570452058, median 0.00737732199235, std: 0.0222017588545
Gyro error squarred (imu0):          mean 0.215724817809, median 0.00620870996076, std: 20.2846267125
Accelerometer error squarred (imu0): mean 0.105145329579, median 0.0409864492831, std: 0.303328080234

I think the calibration result is pretty nice. However, when I run the ROVIO with ethz-asl/realsense/devel/d435i, it keep warning me this message: [FilterBase::addUpdateMeas] Warning: included measurements at time (t) before safeTime (safeWarningTime_). I can see the t is growing while safeWarningTime_ never changed.

Any hints what happened or what the safeWarningTime_ is? Thanks:)

beduffy commented 5 years ago

I have this issue too, if anyone knows how to fix it, that would be much appreciated!

beduffy commented 5 years ago

I fixed it by making sure that all my timestamps were before the initial reset time

0Jiahao commented 1 year ago

seems there is a solution

ethz-asl / rovio

What is the safeWarningTime_ #210