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NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Delta between current and previous frame, although left/right topics Hz is 40. #129

Open michaelnguyen11 opened 11 months ago

michaelnguyen11 commented 11 months ago

Hi authors,

I'm using the Luxonis OAK camera with Jetpack 5.1.2 and Isaac ROS 2.0.0 on Orin Nano Developer Kit to run Isaac Visual SLAM.

The setup is working well, I can get the position of the camera through RVIZ. However, I get some warning from visual_slam_node : [visual_slam_node]: Delta between current and previous frame [49.911854] is above threshold [30.000000], although the left and right rectified topics hz are 40 and the imu data topics hz is approx. 400.

Screenshot from 2023-11-03 15-18-20

I tested the Visual SLAM by moving the camera in a circle and put back to station, the output looks quite drift, current position is pretty far from initial position. Screenshot from 2023-11-03 15-22-15

I checked Luxonis source code, look like they verified whether left and right rectified frames are synchronized or not, before publishing the image_rect left/right topics.

I think the issue relate to Delta between current and previous frame and probably the queues for left/right are full so it leads to mismatch between current and previous frame.

Could the author guide me on how to avoid the Delta between current and previous frame issue ? Many thanks in advance !.

Best regards, Hiep Nguyen

swapnesh-wani-nvidia commented 10 months ago

Hello, could you share your launch file and full logs? The warnings for the time delta specifies that the current pair of frames arrived late. This may be because of the exact time filter drops messages. Also, check the QoS setting of the camera.