Closed P970727 closed 2 years ago
This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days
I'm trying to sync multiple SVO files a remove excess frames from start and end, to have same length synced recordings from multiple ZED cameras. and this issue is stopping me from doing that.
This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days
Exists still.
This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days
Preliminary Checks
Description
Timestamp interval is not 1 / 30s,Inconsistent timestamp interval.
Steps to Reproduce
from os import TMP_MAX from time import monotonic import pyzed.sl as sl import cv2 import pandas as pd import numpy as np
zed = sl.Camera()
Set configuration parameters
init_params = sl.InitParameters() init_params.camera_resolution = sl.RESOLUTION.HD1080 init_params.camera_fps = 30 #相机的频率
init_params.coordinate_units = sl.UNIT.METERS #坐标系单位
init_params.depth_minimum_distance = 0.15 #Set the minimum depth perception distance to 15cm
init_params.depth_maximum_distance = 20 #25m
init_params.depth_mode = sl.DEPTH_MODE.ULTRA
init_params.sdk_gpu_id = 1#gpu
Ultra模式提供最高的深度范围,并在感应范围内更好地保留Z精度
sp = sl.SensorParameters() sp.sampling_rate = 0.9 #采样率 moi = sp.noise_density #白噪音 mwork = sp.random_walk #随机游走 print(moi) print(mwork)
是否开启成功
err = zed.open(init_params) if err != sl.ERROR_CODE.SUCCESS: print("没启动成功!") exit(-1)
传感器
sensors_data = sl.SensorsData()
捕获图片
image = sl.Mat()
left_image = sl.Mat() depth_image = sl.Mat()
imu表格格式
右手系,后z,上y,左下。而EuRoc则是后-z,上x,左y。表格格式以EuRoc为主
name=['##timestamp [ms]','w_RS_S_x [rad s^-1]','w_RS_S_y [rad s^-1]','w_RS_S_z [rad s^-1]', 'a_RS_S_x [m s^-2]','a_RS_S_y [m s^-2]','a_RS_S_z [m s^-2]'] csv=[]
key='' i=0 print("按q----退出") while i<200 :#按了q也不管用啊 key != 113
df = pd.DataFrame(columns=name, data=csv) df.to_csv('./picture/imu.csv', index=False)#保存imu表格数据 cv2.destroyAllWindows() zed.close()
Expected Result
The interval between timestamps is fixed at 1 / 30s
Actual Result
Timestamp interval is not 1 / 30s,Inconsistent timestamp interval.
ZED Camera model
ZED2
Environment
Anything else?
No response