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stereolabs / zed-sdk

⚡️The spatial perception framework for rapidly building smart robots and spaces
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VIO Drift and strange IMU readings when ZED 2i is mounted in front of robot #580

Closed octopuscabbage closed 1 year ago

octopuscabbage commented 1 year ago

Preliminary Checks

Description

We have noticed that the front Zed 2i in our robot has a substantial drift compared to the Zed 2i mounted in the rear of the robot. The robot is a fairly large (larger than a Clearpath husky) tank drive robot with the Zed 2is mounted on aluminum. The zed 2is are mounted approximately 330mm from the floor, both zeds are mounted facing directly forward (both zeds are mounted parallel to the ground plane but in opposite directions)

We noticed that while the robot is completely still there is a large drift (often above 15cm) only in the front zeds position estimate. There is also noticeable drift between the zeds while the robot is moving.

We have tried multiple Zed 2is mounted on the robot and mounted outside the robot. When the Zed 2i is mounted outside the robot it does not have these drift issues, no matter how close we move it to the robot.

We have tried

You can see below that one zed has a sub 3cm drift in it's x,y direction (called stereo_nx i.e. the rear camera) while the other camera (called stereo px i.e. the forward facing camera) has about a -20cm drift in y and a 5cm drift in x

full_picture

I have collected a rosbag of the IMU data from both cameras on the robot, and the drift in this bag. In the bag we see that the y acceleration for the forward camera is spuriously much higher

y_accel_cameras

but the x acceleration is about the same

x_accel_cameras

The drift is slightly better in this bag (posted below) but still there is a lot of y drift

bag_drift

I can send this bag to someone but I don't know the easiest way to do that. It has the odom output as well as the imu and magnetometer.

Below is the output of the ros zed sdk wrapper when the it is running (in docker)

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-07-25-17-48-33-376100-ow-us00-GeosurveyOBP-002-53
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/offworld/swarm-robotic-mining/ros2_ws/install/bot_geosurvey_perception/share/bot_geosurvey_perception/params/zed_params.yaml
[INFO] [robot_state_publisher-1]: process started with pid [56]
[INFO] [zed_wrapper-2]: process started with pid [58]
[robot_state_publisher-1] Link stereo_px_base_link had 1 children
[robot_state_publisher-1] Link stereo_px_camera_center had 2 children
[robot_state_publisher-1] Link stereo_px_left_camera_frame had 1 children
[robot_state_publisher-1] Link stereo_px_left_camera_optical_frame had 0 children
[robot_state_publisher-1] Link stereo_px_right_camera_frame had 1 children
[robot_state_publisher-1] Link stereo_px_right_camera_optical_frame had 0 children
[robot_state_publisher-1] 1690307313.523641803 [stereo_px.zed_state_publisher] [INFO] got segment base_link
[robot_state_publisher-1] 1690307313.523706846 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_base_link
[robot_state_publisher-1] 1690307313.523716362 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_camera_center
[robot_state_publisher-1] 1690307313.523723221 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_left_camera_frame
[robot_state_publisher-1] 1690307313.523729726 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_left_camera_optical_frame
[robot_state_publisher-1] 1690307313.523736091 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_right_camera_frame
[robot_state_publisher-1] 1690307313.523742303 [stereo_px.zed_state_publisher] [INFO] got segment stereo_px_right_camera_optical_frame
[zed_wrapper-2] 1690307313.528908371 [stereo_px.node] [INFO] ********************************
[zed_wrapper-2] 1690307313.528978487 [stereo_px.node] [INFO]       ZED Camera Component 
[zed_wrapper-2] 1690307313.528988605 [stereo_px.node] [INFO] ********************************
[zed_wrapper-2] 1690307313.528998078 [stereo_px.node] [INFO]  * namespace: /stereo_px
[zed_wrapper-2] 1690307313.529005652 [stereo_px.node] [INFO]  * node name: node
[zed_wrapper-2] 1690307313.529012250 [stereo_px.node] [INFO] ********************************
[zed_wrapper-2] 1690307313.529027964 [stereo_px.node] [INFO] *** DEBUG parameters ***
[zed_wrapper-2] 1690307313.529059630 [stereo_px.node] [INFO]  * Debug mode: FALSE
[zed_wrapper-2] 1690307313.529074793 [stereo_px.node] [INFO] *** GENERAL parameters ***
[zed_wrapper-2] 1690307313.529110212 [stereo_px.node] [INFO]  * Camera model: zed2i - ZED 2i
[zed_wrapper-2] 1690307313.529128452 [stereo_px.node] [INFO]  * SDK Verbose: 1
[zed_wrapper-2] 1690307313.529143302 [stereo_px.node] [INFO]  * SVO: 
[zed_wrapper-2] 1690307313.529153694 [stereo_px.node] [INFO]  * SVO Loop: FALSE
[zed_wrapper-2] 1690307313.529163437 [stereo_px.node] [INFO]  * SVO Realtime: FALSE
[zed_wrapper-2] 1690307313.529175365 [stereo_px.node] [INFO]  * Camera name: stereo_px
[zed_wrapper-2] 1690307313.529190201 [stereo_px.node] [INFO]  * Camera ID: 0
[zed_wrapper-2] 1690307313.529201104 [stereo_px.node] [INFO]  * Camera SN: 38803972
[zed_wrapper-2] 1690307313.529213038 [stereo_px.node] [INFO]  * Camera timeout [sec]: 5
[zed_wrapper-2] 1690307313.529223840 [stereo_px.node] [INFO]  * Camera reconnection temptatives: 5
[zed_wrapper-2] 1690307313.529234329 [stereo_px.node] [INFO]  * Camera framerate: 15
[zed_wrapper-2] 1690307313.529246481 [stereo_px.node] [INFO]  * GPU ID: -1
[zed_wrapper-2] 1690307313.529266818 [stereo_px.node] [INFO]  * Camera resolution: 2 - HD720
[zed_wrapper-2] 1690307313.529278367 [stereo_px.node] [INFO]  * Camera self calibration: TRUE
[zed_wrapper-2] 1690307313.529288363 [stereo_px.node] [INFO]  * Camera flip: FALSE
[zed_wrapper-2] 1690307313.529301881 [stereo_px.node] [INFO]  * [DYN] Publish framerate [Hz]: 15 
[zed_wrapper-2] 1690307313.529310224 [stereo_px.node] [INFO] *** VIDEO parameters ***
[zed_wrapper-2] 1690307313.529324903 [stereo_px.node] [INFO]  * Use old extrinsic parameters: 0
[zed_wrapper-2] 1690307313.529341510 [stereo_px.node] [INFO]  * [DYN] Image downsample factor: 1 
[zed_wrapper-2] 1690307313.529357726 [stereo_px.node] [INFO]  * [DYN] Brightness: 4
[zed_wrapper-2] 1690307313.529374064 [stereo_px.node] [INFO]  * [DYN] Contrast: 4
[zed_wrapper-2] 1690307313.529392551 [stereo_px.node] [INFO]  * [DYN] Hue: 0
[zed_wrapper-2] 1690307313.529404032 [stereo_px.node] [INFO]  * [DYN] Saturation: 4
[zed_wrapper-2] 1690307313.529414545 [stereo_px.node] [INFO]  * [DYN] Sharpness: 4
[zed_wrapper-2] 1690307313.529425124 [stereo_px.node] [INFO]  * [DYN] Gamma: 8
[zed_wrapper-2] 1690307313.529436252 [stereo_px.node] [INFO]  * [DYN] Auto Exposure/Gain: TRUE
[zed_wrapper-2] 1690307313.529447035 [stereo_px.node] [INFO]  * [DYN] Exposure: 80
[zed_wrapper-2] 1690307313.529457367 [stereo_px.node] [INFO]  * [DYN] Gain: 80
[zed_wrapper-2] 1690307313.529468604 [stereo_px.node] [INFO]  * [DYN] Auto White Balance: TRUE
[zed_wrapper-2] 1690307313.529478970 [stereo_px.node] [INFO]  * [DYN] White Balance Temperature: 42
[zed_wrapper-2] 1690307313.529495260 [stereo_px.node] [INFO]  * Video QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.529511312 [stereo_px.node] [INFO]  * Video QoS History depth: 1
[zed_wrapper-2] 1690307313.529522395 [stereo_px.node] [INFO]  * Video QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.529533135 [stereo_px.node] [INFO]  * Video QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.529538101 [stereo_px.node] [INFO] *** DEPTH parameters ***
[zed_wrapper-2] 1690307313.529552700 [stereo_px.node] [INFO]  * Depth quality: 1 - PERFORMANCE
[zed_wrapper-2] 1690307313.529565137 [stereo_px.node] [INFO]  * Depth downsample factor: 1 
[zed_wrapper-2] 1690307313.529584364 [stereo_px.node] [INFO]  * Min depth [m]: 0.3
[zed_wrapper-2] 1690307313.529600864 [stereo_px.node] [INFO]  * Max depth [m]: 20
[zed_wrapper-2] 1690307313.529617012 [stereo_px.node] [INFO]  * Depth Sensing Mode: 0 - STANDARD
[zed_wrapper-2] 1690307313.529636169 [stereo_px.node] [INFO]  * Depth Stabilization: TRUE
[zed_wrapper-2] 1690307313.529651172 [stereo_px.node] [INFO]  * OpenNI mode (16bit point cloud): FALSE
[zed_wrapper-2] 1690307313.529670527 [stereo_px.node] [INFO]  * [DYN] Point cloud rate [Hz]: 15
[zed_wrapper-2] 1690307313.529688055 [stereo_px.node] [INFO]  * [DYN] Depth Confidence: 50
[zed_wrapper-2] 1690307313.529703580 [stereo_px.node] [INFO]  * [DYN] Depth Texture Confidence: 100
[zed_wrapper-2] 1690307313.529715148 [stereo_px.node] [INFO]  * Depth QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.529729163 [stereo_px.node] [INFO]  * Depth QoS History depth: 1
[zed_wrapper-2] 1690307313.529741243 [stereo_px.node] [INFO]  * Depth QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.529762739 [stereo_px.node] [INFO]  * Depth QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.529768397 [stereo_px.node] [INFO] *** POSITIONAL TRACKING parameters ***
[zed_wrapper-2] 1690307313.529780254 [stereo_px.node] [INFO]  * Positional tracking enabled: FALSE
[zed_wrapper-2] 1690307313.529793270 [stereo_px.node] [INFO]  * Base frame id: base_link
[zed_wrapper-2] 1690307313.529804622 [stereo_px.node] [INFO]  * Map frame id: map
[zed_wrapper-2] 1690307313.529818883 [stereo_px.node] [INFO]  * Odometry frame id: odom
[zed_wrapper-2] 1690307313.529831701 [stereo_px.node] [INFO]  * Broadcast Odometry TF: TRUE
[zed_wrapper-2] 1690307313.529844579 [stereo_px.node] [INFO]  * Broadcast Pose TF: TRUE
[zed_wrapper-2] 1690307313.529861167 [stereo_px.node] [INFO]  * Broadcast Static IMU TF [not for ZED]: TRUE
[zed_wrapper-2] 1690307313.529876313 [stereo_px.node] [INFO]  * [DYN] Path publishing rate: 2
[zed_wrapper-2] 1690307313.529896811 [stereo_px.node] [INFO]  * Path history lenght: -1
[zed_wrapper-2] 1690307313.529916305 [stereo_px.node] [INFO]  * Initial pose: [0,0,0,0,0,0,]
[zed_wrapper-2] 1690307313.529933788 [stereo_px.node] [INFO]  * Area Memory: TRUE
[zed_wrapper-2] 1690307313.529952235 [stereo_px.node] [INFO]  * Area Memory DB: 
[zed_wrapper-2] 1690307313.529967793 [stereo_px.node] [INFO]  * IMU Fusion [not for ZED]: TRUE
[zed_wrapper-2] 1690307313.529983685 [stereo_px.node] [INFO]  * Floor Alignment: FALSE
[zed_wrapper-2] 1690307313.529999262 [stereo_px.node] [INFO]  * Init Odometry with first valid pose data: TRUE
[zed_wrapper-2] 1690307313.530015707 [stereo_px.node] [INFO]  * 2D mode: FALSE
[zed_wrapper-2] 1690307313.530029295 [stereo_px.node] [INFO]  * Pose/Odometry QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.530045870 [stereo_px.node] [INFO]  * Pose/Odometry QoS History depth: 1
[zed_wrapper-2] 1690307313.530059336 [stereo_px.node] [INFO]  * Pose/Odometry QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.530075104 [stereo_px.node] [INFO]  * Pose/Odometry QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.530083118 [stereo_px.node] [INFO] *** SENSORS STACK parameters ***
[zed_wrapper-2] 1690307313.530099418 [stereo_px.node] [INFO]  * Sensors Camera Sync: FALSE
[zed_wrapper-2] 1690307313.530115555 [stereo_px.node] [INFO]  * Sensors publishing rate: 200 Hz
[zed_wrapper-2] 1690307313.530131926 [stereo_px.node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.530146689 [stereo_px.node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1690307313.530162463 [stereo_px.node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.530175447 [stereo_px.node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.530184015 [stereo_px.node] [INFO] *** Spatial Mapping parameters ***
[zed_wrapper-2] 1690307313.530198365 [stereo_px.node] [INFO]  * Spatial Mapping Enabled: FALSE
[zed_wrapper-2] 1690307313.530212508 [stereo_px.node] [INFO]  * Spatial Mapping resolution [m]: 0.05
[zed_wrapper-2] 1690307313.530225920 [stereo_px.node] [INFO]  * 3D Max Mapping range [m]: 10
[zed_wrapper-2] 1690307313.530241411 [stereo_px.node] [INFO]  * Map publishing rate [Hz]: 1
[zed_wrapper-2] 1690307313.530252809 [stereo_px.node] [INFO]  * Sensors QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.530263715 [stereo_px.node] [INFO]  * Sensors QoS History depth: 1
[zed_wrapper-2] 1690307313.530273672 [stereo_px.node] [INFO]  * Sensors QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.530283241 [stereo_px.node] [INFO]  * Sensors QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.530290164 [stereo_px.node] [INFO] *** OBJECT DETECTION parameters ***
[zed_wrapper-2] 1690307313.530313434 [stereo_px.node] [INFO]  * Object Detection enabled: FALSE
[zed_wrapper-2] 1690307313.530335581 [stereo_px.node] [INFO]  * OD min. confidence: 50
[zed_wrapper-2] 1690307313.530351155 [stereo_px.node] [INFO]  * OD tracking: TRUE
[zed_wrapper-2] 1690307313.530367020 [stereo_px.node] [INFO]  * Object Detection model: 2 - HUMAN BODY FAST
[zed_wrapper-2] 1690307313.530378782 [stereo_px.node] [INFO]  * MultiClassBox people: TRUE
[zed_wrapper-2] 1690307313.530389567 [stereo_px.node] [INFO]  * MultiClassBox vehicles: TRUE
[zed_wrapper-2] 1690307313.530401525 [stereo_px.node] [INFO]  * MultiClassBox bags: TRUE
[zed_wrapper-2] 1690307313.530412526 [stereo_px.node] [INFO]  * MultiClassBox animals: TRUE
[zed_wrapper-2] 1690307313.530424519 [stereo_px.node] [INFO]  * MultiClassBox electronics: TRUE
[zed_wrapper-2] 1690307313.530441463 [stereo_px.node] [INFO]  * MultiClassBox fruits and vegetables: TRUE
[zed_wrapper-2] 1690307313.530456951 [stereo_px.node] [INFO]  * Skeleton fitting: FALSE
[zed_wrapper-2] 1690307313.530473493 [stereo_px.node] [INFO]  * Body format: 0
[zed_wrapper-2] 1690307313.530491474 [stereo_px.node] [INFO]  * Obj. Det. QoS History: KEEP_LAST
[zed_wrapper-2] 1690307313.530504891 [stereo_px.node] [INFO]  * Obj. Det. QoS History depth: 1
[zed_wrapper-2] 1690307313.530526666 [stereo_px.node] [INFO]  * Obj. Det. QoS Reliability: RELIABLE
[zed_wrapper-2] 1690307313.530546083 [stereo_px.node] [INFO]  * Obj. Det. QoS Durability: VOLATILE
[zed_wrapper-2] 1690307313.530579636 [stereo_px.node] [INFO] *** SERVICES ***
[zed_wrapper-2] 1690307313.530801841 [stereo_px.node] [INFO]  * '/stereo_px/node/reset_odometry'
[zed_wrapper-2] 1690307313.530905496 [stereo_px.node] [INFO]  * '/stereo_px/node/reset_pos_tracking'
[zed_wrapper-2] 1690307313.531042079 [stereo_px.node] [INFO]  * '/stereo_px/node/set_pose'
[zed_wrapper-2] 1690307313.531162789 [stereo_px.node] [INFO]  * '/stereo_px/node/enable_obj_det'
[zed_wrapper-2] 1690307313.531252123 [stereo_px.node] [INFO]  * '/stereo_px/node/enable_mapping'
[zed_wrapper-2] 1690307313.531360945 [stereo_px.node] [INFO]  * '/stereo_px/node/start_svo_rec'
[zed_wrapper-2] 1690307313.531455891 [stereo_px.node] [INFO]  * '/stereo_px/node/stop_svo_rec'
[zed_wrapper-2] 1690307313.531554079 [stereo_px.node] [INFO]  * '/stereo_px/node/toggle_svo_pause'
[zed_wrapper-2] 1690307313.531568956 [stereo_px.node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1690307313.531576918 [stereo_px.node] [INFO] SDK Version: 3.7.7 - Build 56175_466ad27f
[zed_wrapper-2] 1690307313.532938488 [stereo_px.node] [INFO] *** 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@15
[zed_wrapper-2] 1690307321.296504480 [stereo_px.node] [INFO] ZED SDK running on GPU #0
[zed_wrapper-2] 1690307321.296592448 [stereo_px.node] [INFO]  * Camera Model    -> ZED 2i
[zed_wrapper-2] 1690307321.296602899 [stereo_px.node] [INFO]  * Serial Number   -> 38803972
[zed_wrapper-2] 1690307321.296620243 [stereo_px.node] [INFO]  * Input type  -> USB input type
[zed_wrapper-2] 1690307321.296628442 [stereo_px.node] [INFO]  * Camera FW Version -> 1523
[zed_wrapper-2] 1690307321.296640659 [stereo_px.node] [INFO]  * Sensors FW Version -> 777
[zed_wrapper-2] 1690307321.296670680 [stereo_px.node] [INFO] *** TF FRAMES ***
[zed_wrapper-2] 1690307321.296677754 [stereo_px.node] [INFO]  * Map         -> map
[zed_wrapper-2] 1690307321.296688911 [stereo_px.node] [INFO]  * Odometry            -> odom
[zed_wrapper-2] 1690307321.296694139 [stereo_px.node] [INFO]  * Base            -> base_link
[zed_wrapper-2] 1690307321.296699033 [stereo_px.node] [INFO]  * Camera          -> stereo_px_camera_center
[zed_wrapper-2] 1690307321.296704537 [stereo_px.node] [INFO]  * Left            -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296709583 [stereo_px.node] [INFO]  * Left Optical        -> stereo_px_left_camera_optical_frame
[zed_wrapper-2] 1690307321.296714630 [stereo_px.node] [INFO]  * RGB         -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296719756 [stereo_px.node] [INFO]  * RGB Optical     -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296724664 [stereo_px.node] [INFO]  * Right           -> stereo_px_right_camera_frame
[zed_wrapper-2] 1690307321.296729680 [stereo_px.node] [INFO]  * Right Optical       -> stereo_px_right_camera_optical_frame
[zed_wrapper-2] 1690307321.296734679 [stereo_px.node] [INFO]  * Depth           -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296739625 [stereo_px.node] [INFO]  * Depth Optical       -> stereo_px_left_camera_optical_frame
[zed_wrapper-2] 1690307321.296746004 [stereo_px.node] [INFO]  * Point Cloud     -> stereo_px_left_camera_optical_frame
[zed_wrapper-2] 1690307321.296750997 [stereo_px.node] [INFO]  * Disparity       -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296755852 [stereo_px.node] [INFO]  * Disparity Optical   -> stereo_px_left_camera_optical_frame
[zed_wrapper-2] 1690307321.296760831 [stereo_px.node] [INFO]  * Confidence      -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296765625 [stereo_px.node] [INFO]  * Confidence Optical  -> stereo_px_left_camera_optical_frame
[zed_wrapper-2] 1690307321.296770634 [stereo_px.node] [INFO]  * IMU         -> stereo_px_imu_link
[zed_wrapper-2] 1690307321.296776489 [stereo_px.node] [INFO]  * Barometer       -> stereo_px_camera_center
[zed_wrapper-2] 1690307321.296781465 [stereo_px.node] [INFO]  * Magnetometer        -> stereo_px_imu_link
[zed_wrapper-2] 1690307321.296786395 [stereo_px.node] [INFO]  * Left Temperature    -> stereo_px_left_camera_frame
[zed_wrapper-2] 1690307321.296792666 [stereo_px.node] [INFO]  * Right Temperature   -> stereo_px_right_camera_frame
[zed_wrapper-2] 1690307321.297095646 [stereo_px.node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1690307321.300737142 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb/image_rect_color
[zed_wrapper-2] 1690307321.301072185 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb/image_rect_gray
[zed_wrapper-2] 1690307321.301097215 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb/camera_info
[zed_wrapper-2] 1690307321.301429475 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb_raw/image_raw_color
[zed_wrapper-2] 1690307321.301773043 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb_raw/image_raw_gray
[zed_wrapper-2] 1690307321.301788680 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/rgb_raw/camera_info
[zed_wrapper-2] 1690307321.302075095 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left/image_rect_color
[zed_wrapper-2] 1690307321.302401453 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left/image_rect_gray
[zed_wrapper-2] 1690307321.302414982 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left/camera_info
[zed_wrapper-2] 1690307321.302736123 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left_raw/image_raw_color
[zed_wrapper-2] 1690307321.303053481 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left_raw/image_raw_gray
[zed_wrapper-2] 1690307321.303067708 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left_raw/camera_info
[zed_wrapper-2] 1690307321.303408535 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right/image_rect_color
[zed_wrapper-2] 1690307321.303724384 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right/image_rect_gray
[zed_wrapper-2] 1690307321.303736907 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right/camera_info
[zed_wrapper-2] 1690307321.304057055 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right_raw/image_raw_color
[zed_wrapper-2] 1690307321.304386696 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right_raw/image_raw_gray
[zed_wrapper-2] 1690307321.304400097 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/right_raw/camera_info
[zed_wrapper-2] 1690307321.304723834 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/depth/depth_registered
[zed_wrapper-2] 1690307321.304740715 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/depth/camera_info
[zed_wrapper-2] 1690307321.304900455 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/stereo/image_rect_color
[zed_wrapper-2] 1690307321.305061269 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/stereo_raw/image_raw_color
[zed_wrapper-2] 1690307321.305224378 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/confidence/confidence_map
[zed_wrapper-2] 1690307321.305743695 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/disparity/disparity_image
[zed_wrapper-2] 1690307321.305928081 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/point_cloud/cloud_registered
[zed_wrapper-2] 1690307321.306126482 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/pose
[zed_wrapper-2] 1690307321.306279568 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/pose_with_covariance
[zed_wrapper-2] 1690307321.307093584 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/odom
[zed_wrapper-2] 1690307321.307269704 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/path_map
[zed_wrapper-2] 1690307321.307439948 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/path_odom
[zed_wrapper-2] 1690307321.307631342 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/imu/data
[zed_wrapper-2] 1690307321.307810769 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/imu/data_raw
[zed_wrapper-2] 1690307321.307955005 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/temperature/imu
[zed_wrapper-2] 1690307321.308116433 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/imu/mag
[zed_wrapper-2] 1690307321.308261280 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/atm_press
[zed_wrapper-2] 1690307321.308417333 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/temperature/left
[zed_wrapper-2] 1690307321.308559858 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/temperature/right
[zed_wrapper-2] 1690307321.308750246 [stereo_px.node] [INFO] Advertised on topic: /stereo_px/node/left_cam_imu_transform [LATCHED]
[zed_wrapper-2] 1690307321.308763816 [stereo_px.node] [INFO] Camera-IMU Translation: 
[zed_wrapper-2]  -0.002 -0.023 0.00022
[zed_wrapper-2] 1690307321.308785356 [stereo_px.node] [INFO] Camera-IMU Rotation: 
[zed_wrapper-2]  7FFD4F125F70
[zed_wrapper-2] 0.999985 0.004863 -0.002358
[zed_wrapper-2] -0.004866 0.999987 -0.001576
[zed_wrapper-2] 0.002351 0.001588 0.999996
[zed_wrapper-2] 
[zed_wrapper-2] 1690307321.308829587 [stereo_px.node] [INFO] Published static TF: 'stereo_px_imu_link' -> 'stereo_px_left_camera_frame'
[zed_wrapper-2] 1690307321.365452311 [stereo_px.node] [INFO] *** Starting Positional Tracking ***
[zed_wrapper-2] 1690307321.365498142 [stereo_px.node] [INFO]  * Waiting for valid static transformations...
[zed_wrapper-2] 1690307321.365573300 [stereo_px.node] [INFO] Static transform Sensor to Base [stereo_px_left_camera_frame -> base_link]
[zed_wrapper-2] 1690307321.365596435 [stereo_px.node] [INFO]  * Translation: {-0.684,-0.205,0.000}
[zed_wrapper-2] 1690307321.365603518 [stereo_px.node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1690307321.365612786 [stereo_px.node] [INFO] Static transform Sensor to Camera Center [stereo_px_left_camera_frame -> stereo_px_camera_center]
[zed_wrapper-2] 1690307321.365617426 [stereo_px.node] [INFO]  * Translation: {0.000,-0.060,0.000}
[zed_wrapper-2] 1690307321.365623557 [stereo_px.node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1690307321.365635190 [stereo_px.node] [INFO] Static transform Camera Center to Base [stereo_px_camera_center -> base_link]
[zed_wrapper-2] 1690307321.365639866 [stereo_px.node] [INFO]  * Translation: {-0.684,-0.145,0.000}
[zed_wrapper-2] 1690307321.365644651 [stereo_px.node] [INFO]  * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-2] 1690307321.465731396 [stereo_px.node] [INFO] Initial ZED left camera pose (ZED pos. tracking): 
[zed_wrapper-2] 1690307321.465767470 [stereo_px.node] [INFO]  * T: [0.684,0.205,0]
[zed_wrapper-2] 1690307321.465776019 [stereo_px.node] [INFO]  * Q: [0,0,0,1]
[zed_wrapper-2] 1690307321.758561712 [stereo_px.node] [INFO] Odometry aligned to last tracking pose
[zed_wrapper-2] 1690307328.225378728 [stereo_px.node] [INFO] Lock timeout [Repeated multiple times];

Steps to Reproduce

  1. Replay rosbag
  2. Observe the odometry estimate from our front and rear zed 2is

Expected Result

We would expect that the rear and front Zed2is drift about the same (seems to be in general under 0.5cm). We would also expect the same drift when the zed 2i is mounted on the robot as when it's not, but we do not observe any unusual drift when it's not mounted.

Actual Result

An unusually high (significantly over 1cm) at rest drift rate only when this camera is mounted on the robot (no matter which camera or which cable).

ZED Camera model

ZED2i

Environment

OS: Ubuntu 20.04.05 LTS
Nvidia Driver: 525.78.01
GPU: NVidia GeForce RTX 2060
CPU: 11th Gen Intel(R) Core(TM) i7-1165G7 @ 2.80GHz
ZED SDK Version: 3.7.7 - Build 56175_466ad27f

Anything else?

Thank you for taking the time to look at this, I know it may not be directly a ZED SDK issue.

Myzhar commented 1 year ago

@octopuscabbage please write an email with all this information to support@stereolabs.com