[Feature-Request] Camera - IMU synced in Sync Node

[michaelnguyen11]

Start with the why:

Camera-IMU messages synchronization are very important in VIO/SLAM development.

Move to the what:

A pull request #917 implemented a Sync Node that synchronized timestamp of camera left/right/center on device then send to host for display. It would be nice if the IMU data can be synchronized with camera data.

Move to the how:

I don't have any idea to implement that yet.

Hi @asahtik ,

Know that you are the author of pull request #917 . Do you have any plans to support the IMU data to be synchronized with camera data through the Sync Node and Message Groups? Thank you in advance!

Best regards,
Hiep Nguyen

[asahtik]

Hi @michaelnguyen11, great question. Currently the Sync node synchronizes a group of messages based on their device timestamps. The issue with IMUData is that it groups multiple packets (with timestamps) together and so it does not have its own timestamp - this requires some special handling that is not yet implemented. However, we are planning on supporting syncing IMU packets through the Sync node.

[michaelnguyen11]

Hi @asahtik ,

Thank you for your information. Hope to test the syncing Camera-IMU in the Sync node soon.