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Any suggestions for combining scans of different frequencies? #8

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ruffsl opened this issue Feb 19, 2016 · 0 comments
Open

Any suggestions for combining scans of different frequencies? #8

ruffsl opened this issue Feb 19, 2016 · 0 comments

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@ruffsl
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ruffsl commented Feb 19, 2016

I'm combining two scans, one extracted from a depth camera, and the other from a 2D LIDAR. But I'm getting some jitter from the depth camera's scan contribution. I suppose it's to be expected when combining a 30Hz depth scan with a 40Hz LIDAR, but I was wondering if there was anything that could be done better. A qualitative example of the jitter artifact in RVIZ; red/LIDAR, green/depth-camera, yellow/combined. Note how combined lagges with the camera, and the LIDAR remains quite static.
anim
The example you see here is a turtlebot simulation from gazebo, with a asus pointing forward, and a gpu_lidar pointing backwards, using this small PR of ira_laser_tools: #7

Update: corss-linking to ros.anwsers post
awesomebytes added a commit to uts-magic-lab/ira_laser_tools that referenced this issue Jun 20, 2017
@awesomebytes
Fix Eigen crash of memory alignment
b9ff953 
#0  0xb29183ee in ?? () from /lib/libc.so.6
iralabdisco#1  0x080c85a2 in Eigen::internal::handmade_aligned_free(void*) ()
iralabdisco#2  0x080c85ef in Eigen::internal::aligned_free(void*) ()
iralabdisco#3  0x080cf4d8 in void Eigen::internal::conditional_aligned_free<true>(void*) ()
iralabdisco#4  0x080d5a6f in void Eigen::internal::conditional_aligned_delete_auto<float, true>(float*, unsigned int) ()
iralabdisco#5  0x080d350e in Eigen::DenseStorage<float, -1, -1, -1, 0>::~DenseStorage() ()
iralabdisco#6  0x080ce018 in Eigen::PlainObjectBase<Eigen::Matrix<float, -1, -1, 0, -1, -1> >::~PlainObjectBase() ()
iralabdisco#7  0x080ce030 in Eigen::Matrix<float, -1, -1, 0, -1, -1>::~Matrix() ()
iralabdisco#8  0x080c4a65 in LaserscanMerger::scanCallback(boost::shared_ptr<sensor_msgs::LaserScan_<std::allocator<void> > const> const&, std::string) ()
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