Massive Lag when trying to visualize own recorded bags

[BestVanRome]

Before opening an issue
If the issue is about build errors:

• I have read installation instructions
• I have considered using docker

If the issue is about calibration procedure and results:

• I have read data collection instructions
• I have confirmed the program works on example data

If the issue is about the algorithm:

• I have read the paper

Describe the bug
After preprocessing, trying to start initial_guess and visualize, but there is a massive Lag.

To Reproduce
See video and shared data.

Expected behavior
Fluent view of the visualisation, like in the examples you provided.

Screenshots and sample data

part1.mp4

part2.mp4

part3.mp4

part4.mp4

part5.mp4

Environment:

• OS: Ubuntu 22.04 (host)
• Your Ros Noetic Docker
• ROS version: ROS1 noetic

Additional context
DATA to REPRODUCE:
2 of the bags and the preprocessed data created with your tool. -> here

[devvaibhav455]

Hi,
I faced the delay while using the docker container as well. But when I installed everything on the system without the docker, it works much smoother. However, I can't run superglue as I don't have enough GPU memory and can't understand the manual point selection part. I can understand the pointcloud in rviz but it doesn't make sense to me in the visualizer available in the repo.

[koide3]

The error stems from negative per-point timestamps and should be fixed by #116

[BestVanRome]

I can't see a lot of difference.
I exchanged your the old file with the new provided time_keeper.cpp inside my docker.
After that I ran a catkin_make again and sourced the ws.

In the video I click and drag just a second after the mouse is hovered over the screen.

lag_bug-2024-09-25_14.22.54.mp4