Re: We are receiving imu data (buffer=37), but cannot interpolate imu transform at time. IMU won't be added to graph.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/We-are-receiving-imu-data-buffer-37-but-cannot-interpolate-imu-transform-at-time-IMU-won-t-be-added--tp10510p10575.html

You don't need to manually synchronize the IMU with the camera, unless you mean synchronizing time between the clocks of the IMU and the camera (if one or the other is not using system clock). If the IMU publishes the data as soon it generates it, the error "Make sure IMU is published faster than data rate!" will never happen.

Without IMU, the visual odometry gets lost easily in that sequence. There are a couple of reasons:

1. the camera images look blurry or out of focus:


2. it seems the stereo calibration is not good (I see some vertical disparity):


3. the field of view is small (36 deg horizontal):


Note that the optical rotation looks okay, not sure what happened in your screenshot.

cheers,
Mathieu