ZED X Camera IMU and Threading Issue

Software
1

Hi everyone,

We’re working on an object recognition and localization project using the ZED-X camera. We’re trying to get IMU data on a separate thread, but we’ve run into an issue with the IMU data rate. When we run a script that only uses the IMU, we get a consistent 200 Hz data rate. However, in our main project, the rate drops to 100 Hz.

To be more specific we have a thread that manages the frame (does the grab and works on it) and another that takes the IMU and publishes the data ( with getSensorData with Current timestamp).

The code runs in python in a ros2 humble workspace

We’re wondering if the ZED camera SDK is thread-safe in Python. If so, are there any known issues or specific considerations we should be aware of? Any tips or potential fixes would be greatly appreciated!

Thanks!

2

Hi,

Thank you for reaching out to us, could you please run a ZED_Diagnostic to have more information about your setup ? Also, do you have a snippet of code to reproduce these performances ?

Best regards,