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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.

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How MINS dealwith multi thread problem？

jiachenglihxl opened this issue · comments

commented

In the code， each sensor callback will use function "try to update" to update system state. And they all use StateHelper::EKFUpdate in the end.
My question is, what if two sensor come together, and call EKFUpdate at the same time?
Will this leads to coredump or memory corruption？