EuRoC Forum

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

chloesdaddy wrote: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'.

chloesdaddy wrote: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

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) ?

chloesdaddy wrote: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.

chloesdaddy wrote: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.