svo node not publishing any results using stereo+imu camera

david-delmoral commented 1 year ago

I am attempting svo with a realsense t265, but when I launch the node with a launch file similar to the fla_stere_imu.launch, Rviz opens up but nothing is displayed, there is no error message, although the svo node in not publishing data in any of the topics.

The step I've followed are:

Since the camera publishes the IMU data segregated on different topics, I have made a python node that mixes them in a single IMU message.
In the launch file, I set the camera topics to the ones published by the t265, and the IMU topic to the one published by the python node.
For the calibration file I used the format of the fla_stereo_imu.yaml introducing the distortion values and intrinsics published by the t265 at /camera/fisheye1/camera_info and /camera/fisheye2/camera_info.
For the parameter file I used the same as in fla_stere_imu.launch
I have tried both running from a bag file with the three topics recorded, and running the camera node live and in either case I get the same result. In rqt I get the following chart: where you can see that the svo node is subscribed to the camera and IMU topics, but none of the topics between svo and vis contain any data. I don't know if I have missed any steps needed to use svo with a custom stereo + imu camera. Thank you for the help

zauberflote1 commented 8 months ago

@david-delmoral Did you find a solution?

david-delmoral commented 8 months ago

@david-delmoral Did you find a solution?

No. I ended up using other algorithms for my proyect bc I couldn't get svo working

MauUnterKarottenbaum commented 7 months ago

same... waiting for further tips

aatb-ch commented 3 months ago

i also stumbled upon the same issue, running fine in mono but no results in stereo, the stereoCallback in svo_interface expects exact timestamps for both camera streams, if you switch the sync policy from ExactTime to ApproximateTime it works fine. My camera (oak-d pro w) outputs slightly different timestamps for both streams so no result was published, as soon as I switched to ApproximateTime and recompiled it started working fine.

https://github.com/uzh-rpg/rpg_svo_pro_open/blob/ca371f304637e7fb355cf4624d0a02da4e3da220/svo_ros/src/svo_interface.cpp#L504

uzh-rpg / rpg_svo_pro_open

svo node not publishing any results using stereo+imu camera #45