{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/rovio/issues/200","repository_url":"https://api.github.com/repos/ethz-asl/rovio","labels_url":"https://api.github.com/repos/ethz-asl/rovio/issues/200/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/rovio/issues/200/comments","events_url":"https://api.github.com/repos/ethz-asl/rovio/issues/200/events","html_url":"https://github.com/ethz-asl/rovio/issues/200","id":382258713,"node_id":"MDU6SXNzdWUzODIyNTg3MTM=","number":200,"title":"Configuration for Odroid XU4","user":{"login":"odinhr","id":36407998,"node_id":"MDQ6VXNlcjM2NDA3OTk4","avatar_url":"https://avatars2.githubusercontent.com/u/36407998?v=4","gravatar_id":"","url":"https://api.github.com/users/odinhr","html_url":"https://github.com/odinhr","followers_url":"https://api.github.com/users/odinhr/followers","following_url":"https://api.github.com/users/odinhr/following{/other_user}","gists_url":"https://api.github.com/users/odinhr/gists{/gist_id}","starred_url":"https://api.github.com/users/odinhr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/odinhr/subscriptions","organizations_url":"https://api.github.com/users/odinhr/orgs","repos_url":"https://api.github.com/users/odinhr/repos","events_url":"https://api.github.com/users/odinhr/events{/privacy}","received_events_url":"https://api.github.com/users/odinhr/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-11-19T15:11:59Z","updated_at":"2018-12-01T15:14:59Z","closed_at":null,"author_association":"NONE","body":"Hi all!\r\n\r\nI'm testing now Rovio for Odroid and my output is about 2 Hz. With the same configuration on PC I get about 20-25 Hz. Can anyone says me a better configuration for Odroid?\r\n\r\nThank you.\r\n\r\nOdín."},"comment":{"url":"https://api.github.com/repos/ethz-asl/rovio/issues/comments/443433236","html_url":"https://github.com/ethz-asl/rovio/issues/200#issuecomment-443433236","issue_url":"https://api.github.com/repos/ethz-asl/rovio/issues/200","id":443433236,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0MzQzMzIzNg==","user":{"login":"chutsu","id":91460,"node_id":"MDQ6VXNlcjkxNDYw","avatar_url":"https://avatars1.githubusercontent.com/u/91460?v=4","gravatar_id":"","url":"https://api.github.com/users/chutsu","html_url":"https://github.com/chutsu","followers_url":"https://api.github.com/users/chutsu/followers","following_url":"https://api.github.com/users/chutsu/following{/other_user}","gists_url":"https://api.github.com/users/chutsu/gists{/gist_id}","starred_url":"https://api.github.com/users/chutsu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chutsu/subscriptions","organizations_url":"https://api.github.com/users/chutsu/orgs","repos_url":"https://api.github.com/users/chutsu/repos","events_url":"https://api.github.com/users/chutsu/events{/privacy}","received_events_url":"https://api.github.com/users/chutsu/received_events","type":"User","site_admin":false},"created_at":"2018-12-01T15:14:59Z","updated_at":"2018-12-01T15:14:59Z","author_association":"NONE","body":"You didn't mention anything about calibration. Calibration is vital for VIO to work. Would highly recommend you use Kalibr to obtain the calibration between camera and imu as well as camera intrinsics.\r\n\r\nFurther, the fact you're using ethernet to pass data around incurs time delays, if I'm right I don't think ROVIO fixes the time delay between images and imu so that could be another source of errors. In summary, I would say you have to synchronize your camera and imu properly in order do VIO, I believe this applies to all SLAM / VIO algorithms unless they explicitly estimate time delays as well. So in short your current hardware setup is not ideal for ROVIO in my opinion."}}
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