<fix> Avoid adding high frequency odom data for recorddata functionality

2025-09-30 19:03:35 +08:00
parent 7d738e12f8
commit bd2f80d82d
2 changed files with 2 additions and 2 deletions
@@ -1020,7 +1020,7 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
                msg.pose.pose.orientation.w = static_cast<double>(odom_data->orient[3]) / 1e6;

                // Enqueue binary logging for pose
-                if (data_logger_) {
+                if (!is_highfreq && data_logger_) {
                    const uint32_t idx_now = pose_index_.fetch_add(1, std::memory_order_relaxed);
                    const double ts_sec = static_cast<double>(odom_data->timestamp_ns) / 1e9;
                    float pose_arr[7];