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stereolabs / zed-ros2-wrapper

ROS 2 wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros2/
Apache License 2.0
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/zedm/zed_node/depth/depth_registered turning black when using ROS2 Driver #165

Closed Siming-He closed 1 year ago

Siming-He commented 1 year ago

Preliminary Checks

Description

I'm using ROS2 driver for positional tracking. I observe that the /zedm/zed_node/depth/depth_registered image turns fully black sometimes and cause loss of track. The problem happens for all depth mode when using ros2. But it doesn't happen for ZED_DEPTH_VIEWER.

Here is a video of the issue: https://github.com/stereolabs/zed-ros2-wrapper/assets/69362937/00f12a1a-8146-4d02-abed-80698a7e4e86

Steps to Reproduce

  1. Followed this https://github.com/stereolabs/zed-ros2-wrapper to setup the workspace
  2. ros2 launch zed_wrapper zedm.launch.py
  3. looking at the depth images from rviz2 zedm.rviz which is given in ros2 zed examples

Expected Result

I expect to see clear depth values (different colors in the depth image) all the time.

Actual Result

The depth images turn black sometimes and cause loss of tracking.

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 22.04
CPU: 12th Gen Intel(R) Core(TM) i9-12900H
GPU: NVIDIA GeForce RTX 3050 Ti
SDK: ZED_SDK_Ubuntu22_cuda11.8_v4.0.5.zstd
ROS2 Humble Hawksbill

Anything else?

No response

Myzhar commented 1 year ago

Hi @Siming-He Please read this https://support.stereolabs.com/hc/en-us/articles/5365701074967-Why-is-the-depth-map-so-dark-

Positional tracking behavior are not related to dark depth maps

Siming-He commented 1 year ago

Hi @Siming-He Please read this https://support.stereolabs.com/hc/en-us/articles/5365701074967-Why-is-the-depth-map-so-dark-

Positional tracking behavior are not related to dark depth maps

Thank you for the reply! So the link is talking about that the depth map is dark because object is too close which is indeed a visualization issue. But if you look at the video I attached above, the position of my camera doesn't change too much, but the depth suddenly turned to black for some period. It shouldn't be the issue of object being too close so depth image being too dark right?

https://github.com/stereolabs/zed-ros2-wrapper/assets/69362937/8437d11f-4a68-4662-a83e-1f476e4ba57d

image image

Here is the info shown when running: `ros2 launch zed_wrapper zedm.launch.py [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [robot_state_publisher-1]: process started with pid [10435] [INFO] [zed_wrapper-2]: process started with pid [10437] [robot_state_publisher-1] [INFO] [1688905245.935705635] [zedm.zed_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1688905245.935750277] [zedm.zed_state_publisher]: got segment zedm_base_link [robot_state_publisher-1] [INFO] [1688905245.935754884] [zedm.zed_state_publisher]: got segment zedm_camera_center [robot_state_publisher-1] [INFO] [1688905245.935757156] [zedm.zed_state_publisher]: got segment zedm_left_camera_frame [robot_state_publisher-1] [INFO] [1688905245.935759427] [zedm.zed_state_publisher]: got segment zedm_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1688905245.935761531] [zedm.zed_state_publisher]: got segment zedm_right_camera_frame [robot_state_publisher-1] [INFO] [1688905245.935763573] [zedm.zed_state_publisher]: got segment zedm_right_camera_optical_frame

[zed_wrapper-2] [INFO] [1688905245.948721926] [zedm.zed_node]: ZED Camera Component

[zed_wrapper-2] [INFO] [1688905245.948730568] [zedm.zed_node]: namespace: /zedm [zed_wrapper-2] [INFO] [1688905245.948733827] [zedm.zed_node]: node name: zed_node

[zed_wrapper-2] [INFO] [1688905245.948939949] [zedm.zed_node]: DEBUG parameters [zed_wrapper-2] [INFO] [1688905245.948967006] [zedm.zed_node]: Debug Common: FALSE [zed_wrapper-2] [INFO] [1688905245.948981193] [zedm.zed_node]: Debug Video/Depth: FALSE [zed_wrapper-2] [INFO] [1688905245.948990684] [zedm.zed_node]: Debug Control settings: FALSE [zed_wrapper-2] [INFO] [1688905245.949002012] [zedm.zed_node]: Debug Point Cloud: FALSE [zed_wrapper-2] [INFO] [1688905245.949011037] [zedm.zed_node]: Debug GNSS: FALSE [zed_wrapper-2] [INFO] [1688905245.949021685] [zedm.zed_node]: Debug Positional Tracking: FALSE [zed_wrapper-2] [INFO] [1688905245.949033405] [zedm.zed_node]: Debug sensors: FALSE [zed_wrapper-2] [INFO] [1688905245.949043030] [zedm.zed_node]: Debug Mapping: FALSE [zed_wrapper-2] [INFO] [1688905245.949052130] [zedm.zed_node]: Debug Object Detection: FALSE [zed_wrapper-2] [INFO] [1688905245.949063978] [zedm.zed_node]: Debug Body Tracking: FALSE [zed_wrapper-2] [INFO] [1688905245.949249158] [zedm.zed_node]: GENERAL parameters [zed_wrapper-2] [INFO] [1688905245.949267652] [zedm.zed_node]: SVO: '' [zed_wrapper-2] [INFO] [1688905245.949284882] [zedm.zed_node]: Camera model: zedm - ZED-M [zed_wrapper-2] [INFO] [1688905245.949301412] [zedm.zed_node]: SDK Verbose: 1 [zed_wrapper-2] [INFO] [1688905245.949312486] [zedm.zed_node]: Camera name: zedm [zed_wrapper-2] [INFO] [1688905245.949324988] [zedm.zed_node]: Camera ID: 0 [zed_wrapper-2] [INFO] [1688905245.949335324] [zedm.zed_node]: Camera SN: 0

[zed_wrapper-2] [INFO] [1688905245.949368452] [zedm.zed_node]: Camera reconnection temptatives: 5 [zed_wrapper-2] [INFO] [1688905245.949381149] [zedm.zed_node]: Camera framerate: 30 [zed_wrapper-2] [INFO] [1688905245.949394485] [zedm.zed_node]: GPU ID: -1 [zed_wrapper-2] [INFO] [1688905245.949408230] [zedm.zed_node]: Camera resolution: HD720 [zed_wrapper-2] [INFO] [1688905245.949419624] [zedm.zed_node]: Publishing resolution: HD720 [zed_wrapper-2] [INFO] [1688905245.949439240] [zedm.zed_node]: Region of interest: [] [zed_wrapper-2] [INFO] [1688905245.949452742] [zedm.zed_node]: Camera self calibration: TRUE [zed_wrapper-2] [INFO] [1688905245.949464999] [zedm.zed_node]: Camera flip: FALSE

[zed_wrapper-2] [INFO] [1688905245.949489479] [zedm.zed_node]: VIDEO parameters [zed_wrapper-2] [INFO] [1688905245.949499646] [zedm.zed_node]: [DYN] Brightness: 4 [zed_wrapper-2] [INFO] [1688905245.949510159] [zedm.zed_node]: [DYN] Contrast: 4 [zed_wrapper-2] [INFO] [1688905245.949521092] [zedm.zed_node]: [DYN] Hue: 0 [zed_wrapper-2] [INFO] [1688905245.949531591] [zedm.zed_node]: [DYN] Saturation: 4 [zed_wrapper-2] [INFO] [1688905245.949545117] [zedm.zed_node]: [DYN] Sharpness: 4 [zed_wrapper-2] [INFO] [1688905245.949556872] [zedm.zed_node]: [DYN] Gamma: 8 [zed_wrapper-2] [INFO] [1688905245.949566774] [zedm.zed_node]: [DYN] Auto Exposure/Gain: TRUE [zed_wrapper-2] [INFO] [1688905245.949576483] [zedm.zed_node]: [DYN] Exposure: 80 [zed_wrapper-2] [INFO] [1688905245.949587981] [zedm.zed_node]: [DYN] Gain: 80 [zed_wrapper-2] [INFO] [1688905245.949599085] [zedm.zed_node]: [DYN] Auto White Balance: TRUE [zed_wrapper-2] [INFO] [1688905245.949609492] [zedm.zed_node]: [DYN] White Balance Temperature: 42 [zed_wrapper-2] [INFO] [1688905245.949622297] [zedm.zed_node]: Video QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.949632251] [zedm.zed_node]: Video QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.949643023] [zedm.zed_node]: Video QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.949653567] [zedm.zed_node]: * Video QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.949658027] [zedm.zed_node]: DEPTH parameters [zed_wrapper-2] [INFO] [1688905245.949671049] [zedm.zed_node]: * Depth mode: PERFORMANCE [1]

[zed_wrapper-2] [INFO] [1688905245.949704565] [zedm.zed_node]: Depth Stabilization: 50 [zed_wrapper-2] [INFO] [1688905245.949714729] [zedm.zed_node]: OpenNI mode (16bit point cloud): FALSE

[zed_wrapper-2] [INFO] [1688905245.949747105] [zedm.zed_node]: [DYN] Depth Confidence: 50 [zed_wrapper-2] [INFO] [1688905245.949757642] [zedm.zed_node]: [DYN] Depth Texture Confidence: 100 [zed_wrapper-2] [INFO] [1688905245.949767658] [zedm.zed_node]: [DYN] Remove saturated areas: TRUE [zed_wrapper-2] [INFO] [1688905245.949778316] [zedm.zed_node]: Depth QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.949788498] [zedm.zed_node]: Depth QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.949798542] [zedm.zed_node]: Depth QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.949809594] [zedm.zed_node]: * Depth QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.949813097] [zedm.zed_node]: GNSS FUSION parameters [zed_wrapper-2] [INFO] [1688905245.949829484] [zedm.zed_node]: * GNSS fusion enabled: FALSE [zed_wrapper-2] [INFO] [1688905245.949833179] [zedm.zed_node]: POSITIONAL TRACKING parameters [zed_wrapper-2] [INFO] [1688905245.949844370] [zedm.zed_node]: Positional tracking enabled: TRUE [zed_wrapper-2] [INFO] [1688905245.949856287] [zedm.zed_node]: Base frame id: base_link [zed_wrapper-2] [INFO] [1688905245.949866933] [zedm.zed_node]: Map frame id: map [zed_wrapper-2] [INFO] [1688905245.949877444] [zedm.zed_node]: Odometry frame id: odom [zed_wrapper-2] [INFO] [1688905245.949888887] [zedm.zed_node]: Broadcast Odometry TF: TRUE [zed_wrapper-2] [INFO] [1688905245.949899649] [zedm.zed_node]: Broadcast Pose TF: TRUE

[zed_wrapper-2] [INFO] [1688905245.949922247] [zedm.zed_node]: [DYN] Depth minimum range: 0 [zed_wrapper-2] [INFO] [1688905245.949933315] [zedm.zed_node]: [DYN] TF timestamp offset: 0 [zed_wrapper-2] [INFO] [1688905245.949943622] [zedm.zed_node]: [DYN] Path publishing rate: 2 [zed_wrapper-2] [INFO] [1688905245.949954922] [zedm.zed_node]: Path history lenght: -1 [zed_wrapper-2] [INFO] [1688905245.949967613] [zedm.zed_node]: Initial pose: [0,0,0,0,0,0,] [zed_wrapper-2] [INFO] [1688905245.949979588] [zedm.zed_node]: Area Memory: TRUE [zed_wrapper-2] [INFO] [1688905245.949991586] [zedm.zed_node]: Area Memory DB: [zed_wrapper-2] [INFO] [1688905245.950001898] [zedm.zed_node]: Camera is static: FALSE

[zed_wrapper-2] [INFO] [1688905245.950034580] [zedm.zed_node]: Floor Alignment: FALSE [zed_wrapper-2] [INFO] [1688905245.950045395] [zedm.zed_node]: Init Odometry with first valid pose data: TRUE [zed_wrapper-2] [INFO] [1688905245.950057779] [zedm.zed_node]: 2D mode: FALSE [zed_wrapper-2] [INFO] [1688905245.950067846] [zedm.zed_node]: Pose/Odometry QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.950078340] [zedm.zed_node]: Pose/Odometry QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.950089278] [zedm.zed_node]: Pose/Odometry QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.950099861] [zedm.zed_node]: * Pose/Odometry QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.950103386] [zedm.zed_node]: SENSORS STACK parameters [zed_wrapper-2] [INFO] [1688905245.950114051] [zedm.zed_node]: Sensors Camera Sync: FALSE [zed_wrapper-2] [INFO] [1688905245.950126049] [zedm.zed_node]: Sensors publishing rate: 200 Hz [zed_wrapper-2] [INFO] [1688905245.950136432] [zedm.zed_node]: Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.950146549] [zedm.zed_node]: Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.950157460] [zedm.zed_node]: Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.950170857] [zedm.zed_node]: Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.950174456] [zedm.zed_node]: Spatial Mapping parameters [zed_wrapper-2] [INFO] [1688905245.950185381] [zedm.zed_node]: * Spatial Mapping Enabled: TRUE

[zed_wrapper-2] [INFO] [1688905245.950238444] [zedm.zed_node]: Clicked point topic: /clicked_point [zed_wrapper-2] [INFO] [1688905245.950248761] [zedm.zed_node]: Sensors QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.950259459] [zedm.zed_node]: Sensors QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.950272718] [zedm.zed_node]: Sensors QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.950287438] [zedm.zed_node]: * Sensors QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.950291068] [zedm.zed_node]: Object Det. parameters [zed_wrapper-2] [INFO] [1688905245.950310131] [zedm.zed_node]: Object Det. enabled: FALSE [zed_wrapper-2] [INFO] [1688905245.950329198] [zedm.zed_node]: Object Det. model: MULTI CLASS BOX MEDIUM [zed_wrapper-2] [INFO] [1688905245.950344209] [zedm.zed_node]: * Object Det. allow reduced precision: TRUE

[zed_wrapper-2] [INFO] [1688905245.950372698] [zedm.zed_node]: * Object Det. min. confidence: 50

[zed_wrapper-2] [INFO] [1688905245.950400059] [zedm.zed_node]: Object Det. tracking: TRUE [zed_wrapper-2] [INFO] [1688905245.950415685] [zedm.zed_node]: Object Filtering mode: 1 - NMS 3D [zed_wrapper-2] [INFO] [1688905245.950429120] [zedm.zed_node]: MultiClassBox people: FALSE [zed_wrapper-2] [INFO] [1688905245.950444049] [zedm.zed_node]: MultiClassBox vehicles: TRUE [zed_wrapper-2] [INFO] [1688905245.950458822] [zedm.zed_node]: MultiClassBox bags: TRUE [zed_wrapper-2] [INFO] [1688905245.950471503] [zedm.zed_node]: MultiClassBox animals: TRUE [zed_wrapper-2] [INFO] [1688905245.950485636] [zedm.zed_node]: MultiClassBox electronics: TRUE [zed_wrapper-2] [INFO] [1688905245.950500196] [zedm.zed_node]: MultiClassBox fruits and vegetables: TRUE [zed_wrapper-2] [INFO] [1688905245.950518422] [zedm.zed_node]: MultiClassBox sport-related objects: TRUE [zed_wrapper-2] [INFO] [1688905245.950531856] [zedm.zed_node]: Obj. Det. QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.950544831] [zedm.zed_node]: Obj. Det. QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.950558328] [zedm.zed_node]: Obj. Det. QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.950571744] [zedm.zed_node]: * Obj. Det. QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.950575109] [zedm.zed_node]: Body Track. parameters [zed_wrapper-2] [INFO] [1688905245.950588469] [zedm.zed_node]: Body Track. enabled: FALSE [zed_wrapper-2] [INFO] [1688905245.950604572] [zedm.zed_node]: Body Track. model: HUMAN BODY MEDIUM [zed_wrapper-2] [INFO] [1688905245.950620660] [zedm.zed_node]: Body Track. format: BODY_38 [zed_wrapper-2] [INFO] [1688905245.950636638] [zedm.zed_node]: Body Track. allow reduced precision: TRUE

[zed_wrapper-2] [INFO] [1688905245.950665507] [zedm.zed_node]: Body Track. KP selection: FULL [zed_wrapper-2] [INFO] [1688905245.950685902] [zedm.zed_node]: Body fitting: FALSE [zed_wrapper-2] [INFO] [1688905245.950702859] [zedm.zed_node]: * Body joints tracking: TRUE

[zed_wrapper-2] [INFO] [1688905245.950731409] [zedm.zed_node]: Body Track. confidence thresh.: 50 [zed_wrapper-2] [INFO] [1688905245.950745638] [zedm.zed_node]: Body Track. min. KP thresh.: 5 [zed_wrapper-2] [INFO] [1688905245.950760644] [zedm.zed_node]: Body Track. QoS History: KEEP_LAST [zed_wrapper-2] [INFO] [1688905245.950773496] [zedm.zed_node]: Body Track. QoS History depth: 1 [zed_wrapper-2] [INFO] [1688905245.950786329] [zedm.zed_node]: Body Track. QoS Reliability: RELIABLE [zed_wrapper-2] [INFO] [1688905245.950799433] [zedm.zed_node]: Body Track. QoS Durability: VOLATILE [zed_wrapper-2] [INFO] [1688905245.950974842] [zedm.zed_node]: SERVICES

[zed_wrapper-2] [INFO] [1688905245.952925605] [zedm.zed_node]: STARTING CAMERA [zed_wrapper-2] [INFO] [1688905245.952929308] [zedm.zed_node]: ZED SDK Version: 4.0.5 - Build 74912_40b07c1e [zed_wrapper-2] [INFO] [1688905245.954410861] [zedm.zed_node]: CAMERA OPENING [zed_wrapper-2] [ZED][INFO] Logging level INFO [zed_wrapper-2] [ZED][INFO] [Init] Depth mode: PERFORMANCE [zed_wrapper-2] [ZED][INFO] [Init] Camera successfully opened. [zed_wrapper-2] [ZED][INFO] [Init] Camera FW version: 1523 [zed_wrapper-2] [ZED][INFO] [Init] Video mode: HD720@30 [zed_wrapper-2] [ZED][INFO] [Init] Serial Number: S/N 12733220 [zed_wrapper-2] [INFO] [1688905250.533751648] [zedm.zed_node]: ZED SDK running on GPU #0 [zed_wrapper-2] [INFO] [1688905250.533844297] [zedm.zed_node]: Camera Model -> ZED-M [zed_wrapper-2] [INFO] [1688905250.533856573] [zedm.zed_node]: Serial Number -> 12733220 [zed_wrapper-2] [INFO] [1688905250.533872430] [zedm.zed_node]: Input -> USB input type [zed_wrapper-2] [INFO] [1688905250.533883743] [zedm.zed_node]: Camera FW Version -> 1523 [zed_wrapper-2] [INFO] [1688905250.533892818] [zedm.zed_node]: Sensors FW Version -> 517 [zed_wrapper-2] [INFO] [1688905250.533903375] [zedm.zed_node]: Camera grab frame size -> 1280x720 [zed_wrapper-2] [INFO] [1688905250.533916338] [zedm.zed_node]: * Publishing frame size -> 1280x720 [zed_wrapper-2] [INFO] [1688905250.533937409] [zedm.zed_node]: TF FRAMES [zed_wrapper-2] [INFO] [1688905250.533947684] [zedm.zed_node]: Map -> map [zed_wrapper-2] [INFO] [1688905250.533956545] [zedm.zed_node]: Odometry -> odom [zed_wrapper-2] [INFO] [1688905250.533965037] [zedm.zed_node]: Base -> base_link [zed_wrapper-2] [INFO] [1688905250.533975955] [zedm.zed_node]: Camera -> zedm_camera_center [zed_wrapper-2] [INFO] [1688905250.533992834] [zedm.zed_node]: Left -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534002022] [zedm.zed_node]: Left Optical -> zedm_left_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534010709] [zedm.zed_node]: RGB -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534019266] [zedm.zed_node]: RGB Optical -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534027669] [zedm.zed_node]: Right -> zedm_right_camera_frame [zed_wrapper-2] [INFO] [1688905250.534036200] [zedm.zed_node]: Right Optical-> zedm_right_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534044994] [zedm.zed_node]: Depth -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534057578] [zedm.zed_node]: Depth Optical-> zedm_left_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534065785] [zedm.zed_node]: Point Cloud -> zedm_left_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534073829] [zedm.zed_node]: Disparity -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534082151] [zedm.zed_node]: Disparity Optical -> zedm_left_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534090321] [zedm.zed_node]: Confidence -> zedm_left_camera_frame [zed_wrapper-2] [INFO] [1688905250.534098544] [zedm.zed_node]: Confidence Optical -> zedm_left_camera_optical_frame [zed_wrapper-2] [INFO] [1688905250.534106869] [zedm.zed_node]: IMU -> zedm_imu_link [zed_wrapper-2] [INFO] [1688905250.535402889] [zedm.zed_node]: PUBLISHED TOPICS [zed_wrapper-2] [INFO] [1688905250.538482301] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb/image_rect_color [zed_wrapper-2] [INFO] [1688905250.538721560] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb/image_rect_gray [zed_wrapper-2] [INFO] [1688905250.538736357] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb/camera_info [zed_wrapper-2] [INFO] [1688905250.538935280] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb_raw/image_raw_color [zed_wrapper-2] [INFO] [1688905250.539122030] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb_raw/image_raw_gray [zed_wrapper-2] [INFO] [1688905250.539131703] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/rgb_raw/camera_info [zed_wrapper-2] [INFO] [1688905250.539305303] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left/image_rect_color [zed_wrapper-2] [INFO] [1688905250.539485369] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left/image_rect_gray [zed_wrapper-2] [INFO] [1688905250.539494624] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left/camera_info [zed_wrapper-2] [INFO] [1688905250.539678694] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left_raw/image_raw_color [zed_wrapper-2] [INFO] [1688905250.539849822] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left_raw/image_raw_gray [zed_wrapper-2] [INFO] [1688905250.539858029] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left_raw/camera_info [zed_wrapper-2] [INFO] [1688905250.540036310] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right/image_rect_color [zed_wrapper-2] [INFO] [1688905250.540204786] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right/image_rect_gray [zed_wrapper-2] [INFO] [1688905250.540212818] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right/camera_info [zed_wrapper-2] [INFO] [1688905250.540386248] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right_raw/image_raw_color [zed_wrapper-2] [INFO] [1688905250.540564384] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right_raw/image_raw_gray [zed_wrapper-2] [INFO] [1688905250.540588237] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/right_raw/camera_info [zed_wrapper-2] [INFO] [1688905250.540733513] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/depth/depth_registered [zed_wrapper-2] [INFO] [1688905250.540739766] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/depth/camera_info [zed_wrapper-2] [INFO] [1688905250.541970977] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/depth/depth_info [zed_wrapper-2] [INFO] [1688905250.542069263] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/stereo/image_rect_color [zed_wrapper-2] [INFO] [1688905250.542144440] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/stereo_raw/image_raw_color [zed_wrapper-2] [INFO] [1688905250.542210678] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/confidence/confidence_map [zed_wrapper-2] [INFO] [1688905250.542885676] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/disparity/disparity_image [zed_wrapper-2] [INFO] [1688905250.543068476] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/point_cloud/cloud_registered [zed_wrapper-2] [INFO] [1688905250.543295519] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/pose [zed_wrapper-2] [INFO] [1688905250.543407244] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/pose/status [zed_wrapper-2] [INFO] [1688905250.543547101] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/pose_with_covariance [zed_wrapper-2] [INFO] [1688905250.544407914] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/odom [zed_wrapper-2] [INFO] [1688905250.544481087] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/odom/status [zed_wrapper-2] [INFO] [1688905250.544592895] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/path_map [zed_wrapper-2] [INFO] [1688905250.544651079] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/path_odom [zed_wrapper-2] [INFO] [1688905250.544722929] [zedm.zed_node]: Advertised on topic /zedm/zed_node/mapping/fused_cloud @ 1 Hz [zed_wrapper-2] [INFO] [1688905250.546126248] [zedm.zed_node]: Advertised on topic: /zedm/plane_marker [zed_wrapper-2] [INFO] [1688905250.546380833] [zedm.zed_node]: Advertised on topic: /zedm/plane [zed_wrapper-2] [INFO] [1688905250.546518382] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/imu/data [zed_wrapper-2] [INFO] [1688905250.546577415] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/imu/data_raw [zed_wrapper-2] [INFO] [1688905250.546649223] [zedm.zed_node]: Advertised on topic: /zedm/zed_node/left_cam_imu_transform [zed_wrapper-2] [INFO] [1688905250.546658411] [zedm.zed_node]: Camera-IMU Translation: [zed_wrapper-2] -0.002 -0.015 -0.00171 [zed_wrapper-2] [INFO] [1688905250.546675907] [zedm.zed_node]: Camera-IMU Rotation: [zed_wrapper-2] 7FFE1272DAA0 [zed_wrapper-2] 0.999960 -0.008266 -0.003535 [zed_wrapper-2] 0.008256 0.999962 -0.002851 [zed_wrapper-2] 0.003558 0.002822 0.999990 [zed_wrapper-2] [zed_wrapper-2] [INFO] [1688905250.546681452] [zedm.zed_node]: Subscribers [zed_wrapper-2] [INFO] [1688905250.546864700] [zedm.zed_node]: * Plane detection: '/clicked_point' [zed_wrapper-2] [INFO] [1688905250.574452920] [zedm.zed_node]: Starting Positional Tracking [zed_wrapper-2] [INFO] [1688905250.574479269] [zedm.zed_node]: Waiting for valid static transformations... [zed_wrapper-2] [INFO] [1688905250.574508183] [zedm.zed_node]: Static transform Sensor to Base [zedm_left_camera_frame -> base_link] [zed_wrapper-2] [INFO] [1688905250.574513040] [zedm.zed_node]: Translation: {0.000,-0.030,-0.013} [zed_wrapper-2] [INFO] [1688905250.574518821] [zedm.zed_node]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] [INFO] [1688905250.574524613] [zedm.zed_node]: Static transform Sensor to Camera Center [zedm_left_camera_frame -> zedm_camera_center] [zed_wrapper-2] [INFO] [1688905250.574527569] [zedm.zed_node]: Translation: {0.000,-0.030,0.000} [zed_wrapper-2] [INFO] [1688905250.574530939] [zedm.zed_node]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] [INFO] [1688905250.574535866] [zedm.zed_node]: Static transform Camera Center to Base [zedm_camera_center -> base_link] [zed_wrapper-2] [INFO] [1688905250.574538791] [zedm.zed_node]: Translation: {0.000,0.000,-0.013} [zed_wrapper-2] [INFO] [1688905250.574542899] [zedm.zed_node]: Rotation: {0.000,-0.000,0.000} [zed_wrapper-2] [INFO] [1688905251.074641419] [zedm.zed_node]: Initial ZED left camera pose (ZED pos. tracking): [zed_wrapper-2] [INFO] [1688905251.074767853] [zedm.zed_node]: T: [0,0.03,0.01325] [zed_wrapper-2] [INFO] [1688905251.074811300] [zedm.zed_node]: * Q: [0,0,0,1] [zed_wrapper-2] [INFO] [1688905251.101337794] [zedm.zed_node]: Starting Spatial Mapping [zed_wrapper-2] [ZED][INFO] init [zed_wrapper-2] [INFO] [1688905251.673163879] [zedm.zed_node]: Resolution: 0.05 m [zed_wrapper-2] [INFO] [1688905251.673207762] [zedm.zed_node]: Max Mapping Range: 5 m [zed_wrapper-2] [INFO] [1688905251.673215000] [zedm.zed_node]: Map point cloud publishing rate: 1 Hz [zed_wrapper-2] [INFO] [1688905251.673874548] [zedm.zed_node]: Odometry aligned to last tracking pose [zed_wrapper-2] [INFO] [1688905251.673883681] [zedm.zed_node]: Initial odometry [odom -> base_link] - {0.003,0.000,-0.000} {1.547,-13.490,-0.043} ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

[zed_wrapper-2] [INFO] [1688905440.847595173] [zedm.zed_node]: Spatial Mapping stopped [INFO] [robot_state_publisher-1]: process has finished cleanly [pid 10435] [INFO] [zed_wrapper-2]: process has finished cleanly [pid 10437] and rviz2 zedm.rviz [INFO] [1688905263.532494828] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1688905263.532551844] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [INFO] [1688905263.541922838] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1688905263.600518628] [rviz2]: Stereo is NOT SUPPORTED [INFO] [1688905263.609171159] [rviz2]: Stereo is NOT SUPPORTED `

Myzhar commented 1 year ago

That's a normal behavior of rviz when it's set to normalize the depth map visualization according to the depth max value. If you change the depth normalization values in order to match the expected max depth range you will notice that black depth maps disappear.

Myzhar commented 1 year ago

Positional tracking is losing track because of your environment: dark room with high light sources (screen and lamp)

Siming-He commented 1 year ago

That's a normal behavior of rviz when it's set to normalize the depth map visualization according to the depth max value. If you change the depth normalization values in order to match the expected max depth range you will notice that black depth maps disappear.

Thank you for answering my questions. It makes sense to me now that the sudden change of "color" is due to normalization of depth. I have one last question: when I look into the topic /zedm/zed_node/depth/depth_info, the max depth is negative? `header: stamp: sec: 1688761281 nanosec: 161146658 frame_id: zedm_left_camera_optical_frame min_depth: 2.5231311321258545 max_depth: -1.0545660257339478

header: stamp: sec: 1688761281 nanosec: 227656658 frame_id: zedm_left_camera_optical_frame min_depth: 2.5231311321258545 max_depth: -1.0545660257339478

header: stamp: sec: 1688761281 nanosec: 294539658 frame_id: zedm_left_camera_optical_frame min_depth: 2.5231311321258545 max_depth: -1.0545660257339478

header: stamp: sec: 1688761281 nanosec: 361149658 frame_id: zedm_left_camera_optical_frame min_depth: 2.5231311321258545 max_depth: -1.0545660257339478 `

Siming-He commented 1 year ago

The issue is indeed normalization during visualization.