EuRoC Forum

[chloesdaddy]

Hi,

In the documentation the frame rate of the camera is 30.

However, when I have a look at the header of the sensor_msgs of the cameras.
It seems the update is closed to one frame per second
Moreover, the frame id is not specified.

I see :
infos = seq: 2
stamp: 2.971000000
frame_id =
...
infos = seq: 3
stamp: 3.961000000
frame_id =

How can I really get 30 frame per seconds ?

Thank you

[Peter Lehner]

How can I really get 30 frame per seconds ?

You can set the camera rate by specifying your desired frequency divisor in the /euroc c2 interface node/set_sensor_update_divisor service (see technical annex Section 2.5.2.4). For a frame rate of 30 Hz you can set the divisor to '1'.

Moreover, the frame id is not specified.

We did not specify a frame id as we are not publishing any tf information. Any frame id we would assign to a camera image would therefore be meaningless. Please feel free to add any frame you desire by republishing the topics.

Best,
Peter

[chloesdaddy]

Thank you for your answer.

It works now. But, the computation is very slow.

Is there any restriction about the computation of the simulation (regarding "human" time) ?

[Peter Lehner]

It works now. But, the computation is very slow.

One option to increase the simulator speed would be to install it on a native ubuntu 12.04 32 bit machine.

Is there any restriction about the computation of the simulation (regarding "human" time) ?

In the final evaluation we will limit the simulation speed to a constant factor of 0.2 real time in order to ensure same conditions for everyone.