Hi,
I’ve been collecting some camera + IMU data on the Zed X and I noticed I am getting ~186Hz against the advertised 400Hz. I am using your APIs directly, no ROS. But, as the ROS2 implementation, I have two separate threads for getting camera images and sensors data. I tried on two different Zed X cameras and I get the same outcome. I’ve been using the Zed Box Orin mini NX 16gb.
I also get ~190Hz when dumping data with your Zed Sensor Viewer, although I am selecting 400Hz in the settings.
Lastly, the only setup where I can actually get ~400Hz is through Zed Explorer saving data into an .svo2
Moreover, I noticed that I am getting kind of two rate distributions in the data I collect. Here I am plotting the period between IMU samples. This is also visible in the data I collect using the Zed Explorer, or the sensor viewer. The only setup without this two distributions is using the Zed Explorer with 1080p 15Hz cameras.
I would like to know why I am able to get the desired frequency through the explorer but not through other tools and through the APIs, and why the odr is so unstable with seemingly two distributions and with big spikes. Is there any fundamental difference in how the data is collected when using the different tools and APIs? Is the Zed Box Mini not keeping up with the data coming from the camera?
Thanks,
Marco