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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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What happens after "Tracker is lost" warning? #9

Closed eMrazSVK closed 1 year ago

eMrazSVK commented 2 years ago

Hello,

I guess the title is self-explaining. Just to add to my question - is it possible to re-gain tracking pose somehow after this warning is sent? Because I get enormously big numbers after tracker is lost in rectified_pose. Let's say 4x10^27 in translation axes.

eMrazSVK commented 2 years ago

One more addition - smooth_pose continues to work correctly (with accumulated drift ofc).

swapnesh-wani-nvidia commented 2 years ago

Hi @eMrazSVK,

It is possible that tracking can resume, however, be aware that during the period where tracking is lost VO can drift. If it drifts too much, it is advisable to restart the VO. For the smooth pose, as you mentioned in the question, it will continue to give out the pose with accumulated drift.