What determines the frame rate of position tracking?

Software C++
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1

Hi,

I am using the position tracking software in GitHub - stereolabs/zed-sdk: ⚡️The spatial perception framework for rapidly building smart robots and spaces . The software uses live feed from the camera.

I printed out the time stamp and position after the call. I found that the frequency of the position updates does not match what I specified for the camera, 100 Hz. Was it because the GPU cannot handle this frequency?

Is it possible to log imu and camera data and process it offline?

Best regards,

Chuan Huang

2

Hi @Huang-Chuan,

The available frame rates for the camera apply to the possible resolutions and frame rates of capture. When adding additional algorithms such as depth or positional tracking, the application may run at a slower rate, depending on the compute available on the host system.

This may explain the frame rate differences for your use case.

You can find more information on our positional tracking algorithm on our official documentation: Positional Tracking Overview - Stereolabs

3

Thank you for your reply. I want to know if Zed Xplore computes the VIO when recording.

4

Hi @Huang-Chuan,

When using our proprietary video recording format called SVO2, only image and sensor data is stored. This means that VIO is run when playing back the recording, not during the recording itself.

Please take a look at our documentation for more information: Video Recording - Stereolabs