Data synchronization

[zxrzju]

There is a warning

No IMU data from last frame timestamp: 1559195795711012276 to timestamp: 1559195795811099519

But measurements between the two timestamps has been added in function fillImuQueue.
Here is the test dataset:
https://drive.google.com/open?id=1b9bjyJyqGGUyao-tWvSFo2yul6U5M9Nu

Thank you

[ToniRV]

We are about to release a fix for this issue, thanks!

[ToniRV]

@zxrzju does it work now?

[zxrzju]

There are some compliation errors.

1. Kimera-VIO/src/mesh/MesherFactory.cpp:18:12: error: expected constructor, destructor, or type conversion before ‘(’ token
   DEFINE_bool(serialize_mesh_2d3d, false, "Serialize 2D/3D Mesh to file.");
   Kimera-VIO/src/mesh/MesherFactory.cpp:27:54: error: ‘FLAGS_serialize_mesh_2d3d’ was not declared in this scope
   return VIO::make_unique(mesher_params, FLAGS_serialize_mesh_2d3d);

I fixed it by replacing the file MesherFactory.cpp with old version.

2. Kimera-VIO-ROS/include/kimera_vio_ros/RosDataProviderInterface.h:33:54: fatal error: kimera-vio/frontend/VisionFrontEndParams.h: No such file or directory

I found that it should be VioFrontEndParams.h

3. Kimera-VIO-ROS/src/RosDataProviderInterface.cpp:172:47: error: ‘struct VIO::FrontendOutput’ has no member named ‘feature_tracks_’
   cv_bridge::CvImage(h, "bgr8", output->feature_tracks_).toImageMsg());

I couldn't fix it.

Thank you

[ToniRV]

These should be solved now! Let me know if it works.