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uzh-rpg / rpg_svo

Semi-direct Visual Odometry
GNU General Public License v3.0
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frame in svo_ros visualizer always null #157

Open Rouno opened 8 years ago

Rouno commented 8 years ago

Hi everyone,

I'm trying to run SVO on ROS Kinectic and ended up compiling SVO on my system and running it with a live camera. Rviz with svo config file is loaded, svo_rqt as well as svo itself. Tracking seems fine but nothing happens in rviz : no visualization of svo/image, no features, no transform neither (and "#Features" value is always 0 in rqt_svo ) When I pause SVO (aka reset) svo/image publishes back my usb_cam/raw_image data stream.

Can anybody help me please ?

Thanks a lot

Rouno commented 8 years ago

Went a bit further,

frame in svo_ros Visualizer::publishMinimal remains NULL forever

while rqt_svo is showing "RUNNING" and "GOOD TRACKING" when I rosbag play airground_rig_s3_2013-03-18_21-38-48.bag

Somebody help, it's so frustrating to get svo almost running and not see the end result in rviz

Rouno commented 8 years ago

Found a solution for this : I made lastframe public in svo/frame_handler_mono.h instead of protected

Somehow the function lastFrame() always returned NULL otherwise.

lericson commented 7 years ago

See my fork for why and a fix.