An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
In the code， each sensor callback will use function "try to update" to update system state. And they all use StateHelper::EKFUpdate in the end.
My question is, what if two sensor come together, and call EKFUpdate at the same time?
Will this leads to coredump or memory corruption？
In the code， each sensor callback will use function "try to update" to update system state. And they all use StateHelper::EKFUpdate in the end. My question is, what if two sensor come together, and call EKFUpdate at the same time? Will this leads to coredump or memory corruption？