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optor-vis / optor_vi-stereo-v1

optor VI Sensor SDK, ROS pack and IMU calibration program
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Duplicate IMU Readings #5

Open superjax opened 5 years ago

superjax commented 5 years ago

I am seeing duplicated IMU measurements

image

(I find it highly unlikely that every other measurement is exactly the same as the previous.)

Any ideas?

superjax commented 5 years ago

I just dug into this some more, and I'm getting something like 7 identical measurements in a row. This effectively reduces my IMU data rate to 30 hz, which is completely unusable for visual-inertial projects.

Is there an updated firmware which can solve this issue?

This is also observed on the v2 sdk

IMUTime:1559247409.732608, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372, 
IMUTime:1559247409.737611, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372, 
IMUTime:1559247409.742614, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372, 
IMUTime:1559247409.747614, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372, 
IMUTime:1559247409.752078, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372, 
IMUTime:1559247409.755739, Gyr:   0.6104, -0.3052,  0.0610, Acc:   0.2682, -8.1958, -6.8372,