search

ethz-asl / rovio

Other
1.12k stars 504 forks source link

rovio is slow when running on bag #220

Closed jakemclaughlin6 closed 5 years ago

jakemclaughlin6 commented 5 years ago

ROVIO is running extremely slow on recorded bag. I've confirmed that it is something wrong with my end as it runs just fine on the Euroc datasets. I am attempting to use mavros and the pixracer board for accurate camera imu time synchronization, so I used kalibr to find the cam imu offset, then recorded my bag (using the ethz flir camera driver and mavros) results-imucam-2019-06-14-12-23-27.txt. There are two main things I can see as having an effect on the speed: the fact that I'm using the sample imu noise calibration (as I havent gotten to calibrating my own yet) and that to capture the bag for the cam-imu calibration, it was running with the modified camera driver but with a cam-imu offset of 0.

kongdaqing commented 4 years ago

catkin_make --DCMAKE_BUILD_TYPE=Release