![]() Such delays, are not necessary negligible for some applications as SLAM. From what I understand the ZED does not provide information about its internal clock, since the timestamp comes from the host, right? This means it could happen that IMU and camera measurements do not have the exact time of retrieval since they depend on when the OS is able to process them (they are buffering by the OS before the timestamps are written down, and the OS processing time depends on how busy it is). mc_people: true # Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models.body_fitting: false # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models.object_tracking_enabled: true # Enable/disable the tracking of the detected objects.confidence_threshold: 50 # Minimum value of the detection confidence of an object.model: 3 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE.od_enabled: false # True to enable Object Detection.publish_imu_tf: true # publish `IMU -> _left_camera_frame` TF.sensors_timestamp_sync: false # Synchronize Sensors messages timestamp with latest received frame.When set to false, only the optical odometry will be used. imu_fusion: true # enable/disable IMU fusion.min_depth: 0.3 # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory.This is the link to the parameter for ZED2 ( zed2.yaml), you can find it also in zed2i.yaml and zedm.yaml: stereolabs/zed-ros-wrapper/blob/master/zed_wrapper/params/zed2.yaml#L16 You can enable image-IMU sync be setting the parameter sensors/sensors_timestamp_sync to true ![]() Hi default configuration of the ZED ROS Wrapper node sets the IMU in free-run mode. ![]()
0 Comments
Leave a Reply. |