Comments (3)
simonlynen
commented on July 21, 2024
What CPU are you running this on? It seems the filter gets starved from the CPU and thus drops IMU messages. You can well reduce the frequency of your imu to 100-200Hz to save some cycles.
In case a message is delayed too much it will get dropped. In your case however it looks like this message is plotted right after you start the estimator. Is this correct? The filter has a buffer for measurements of 30s.
Yes fuzzy tracking is either triggered by your visual frontend giving measurements which are outside of the expected noise characteristics or your camera-imu transformation being too off / wrong.
Yes these are the noise densities for your measurement.
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fboris
commented on July 21, 2024
My Lenovo x230 has Intel i5 CPU.
You are correct. I got these warning "after" I initialized estimator.
I will check the CPU usage later. The problem might be the the node parsing serial port.
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simonlynen
commented on July 21, 2024
Assuming this is resolved.
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