Orb slam 3 + orb slam wrapper on an RGBD ros bag shows no cloud points

[zarathacia]

There are no errors in the run just the absence of the cloud points in RVIZ as shown in this screenshot https://imgur.com/a/ORlmEzf I built orb slam with opencv 4.4 with installation option cuda off and no GTK anyone had this issue before?

[thien94]

• First, you can enable the pangolin window to check if point cloud data is available.
• If it is, you can run rostopic hz /<name of pointcloud topic> to verify the node is publishing data
• If the topic is being published, check that the name of the frames are correct (world_frame_id etc.)

Hope this helps.

[zarathacia]

@thien94 Sorry for the delay. The node is indeed publishing data. i checked the name of the frames too. all looks good but the result is still like this https://imgur.com/OqiYCzK

[kinda-raffy]

@zarathacia If you are using the rosbag, make sure to change RGB.DepthMapFactor to 1.0 in TUM<version>.yaml. Although the points are shown correctly after this change, they seem to be all inverted on the XZ axis. @thien94 can you take a look at the following pictures?

Normal view in rviz:

Inverted view in rviz:

In the normal view, the camera frame is pointed up, with all the points being projected upwards. The camera and the points seem to be in the correct orientation if you invert the view in rviz (the inverted picture shows the camera frame pointed down).

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I used roslaunch orb_slam3_ros tum_rgbd.launch and rosbag play rgbd_dataset_freiburg1_xyz.bag.

Here is my tum_rgbd.launch: tum_rgbd.launch.txt

and my terminal output that was running roslaunch: orb_slam3_output.txt

[zarathacia]

@kinda-raffy Thank you very much for the response it worked like a charm

[shyam-botsync]

@zarathacia hi ! for me its crashing after I start to play the bag file. Did you make any changes apart from the yaml file ?

[zarathacia]

@shyam-botsync I didn't make other changes apart from changing values in the yaml file. i based my installation on this guide https://github.com/Mauhing/ORB_SLAM3/blob/master/README.md and this one too https://github.com/egdw/ORB_SLAM3_Ubuntu20.04