rosbag recorded imu and image sampling intervals are not stable
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Description
When using Kalibr for IMU-camera calibration of ZED2i, there is a difference in rotation and translation compared to the given values. We compared the timestamps of the imu data and image data output by ROS and found that the sampling interval was unstable, with fluctuations reaching several milliseconds. However, the sample interval in the sample data provided by Kalibr is very stable, and I am not sure if this is the reason for the calibration failure.
Steps to Reproduce
- build zed-ros-wrapper as README.
- fix params/common.yaml and params/zed2i.yaml
- roslaunch zed_wrapper zed2i.launch
- rosbag record /zed2i/zed_node/left/image_rect_color /zed2i/zed_node/imu/data_raw
Expected Result
output sampling interval is stable or has a small fluctuation.
Actual Result
left cam image (rectified, @vga, 15Hz) sample intervals:
IMU @200hz
left cam image (rectified, @hd720, 30Hz) sample intervals:
ZED Camera model
ZED2i
Environment
OS: Ubuntu 20.04
CPU: Intel i7-11850H
GPU: RTX A3000
ZED SDK: v4.1.2, v4.1.0, v3.8.x
ROS: Noetic
Anything else?
No response
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