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IMU Rate Visualization #582

Merged
merged 3 commits into from
Nov 24, 2022
Merged

IMU Rate Visualization #582

merged 3 commits into from
Nov 24, 2022

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goldbattle
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This adds a visualization to the result report that includes the sampling rate over the whole dataset for the IMU.
This can allow insight into the "quality" of the IMU and if there are any timestamp problems.
For example, the following IMU has incorrect timestamps where a burst of IMU are send at a rate of 1ms with gaps of 6ms between.
image

A "good" timestamp would be on that has a fixed rate (aside from sensor drops) such as this one which has a fixed 5ms (200Hz) between readings:
image

While other IMUs can have "jitter" where alternating readings have small errors around the fixed frequency.
This isn't as big of a problem, but is a source of error (not as bad as having the first example)
image

@ethzasl-jenkins
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Can one of the admins verify this patch?

@goldbattle goldbattle merged commit ee5a57d into master Nov 24, 2022
@goldbattle goldbattle deleted the imu_rate_viz branch November 24, 2022 23:55
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2 participants