I try to run my test app with v42l camera and visual slam on PC UBUNTU 18.04. I use elbrus_visual_slam_zed.app.json as pattern. My code is
{
"name": "slam_v4l2",
"modules": [
"sensors:v4l2_camera",
"message_generators",
"visual_slam",
"sight"
],
"graph": {
"nodes": [
{
"name": "svo",
"subgraph": "packages/visual_slam/apps/elbrus_visual_slam_rgb.subgraph.json"
},
{
"name": "camera",
"components": [
{
"name": "MessageLedger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "V4L2Camera",
"type": "isaac::V4L2Camera"
}
]
},
{
"name": "intrinsics",
"components": [
{
"name": "MessageLedger",
"type": "isaac::alice::MessageLedger"
},
{
"name": "CameraIntrinsicsGenerator",
"type": "isaac::message_generators::CameraIntrinsicsGenerator"
}
]
}
],
"edges": [
{
"source": "camera/V4L2Camera/frame",
"target": "intrinsics/CameraIntrinsicsGenerator/image"
},
{
"source": "camera/V4L2Camera/frame",
"target": "svo.subgraph/interface/left_image"
},
{
"source": "intrinsics/CameraIntrinsicsGenerator/intrinsics",
"target": "svo.subgraph/interface/left_intrinsics"
},
{
"source": "camera/V4L2Camera/frame",
"target": "svo.subgraph/interface/right_image"
},
{
"source": "intrinsics/CameraIntrinsicsGenerator/intrinsics",
"target": "svo.subgraph/interface/right_intrinsics"
}
]
},
"config": {
"camera": {
"V4L2Camera": {
"device_id": 0,
"rows": 720,
"cols": 1280,
"rate_hz": 10
}
},
"intrinsics": {
"CameraIntrinsicsGenerator": {
"focal_length": [1.1457752257790760e+03, 1.5318594933077491e+03],
"optical_center": [3.1614587655417233e+02, 6.5917832786233669e+02],
"distortion_coefficients": [6.3095453672864246e-02, 1.1092076796490181e-01,
-1.7519424014469689e+00, 7.9980152696699797e-04, -1.9309734213037914e-03]
}
},
"svo.svo_grayscale.tracker": {
"ElbrusVisualSLAM": {
"horizontal_stereo_camera": true,
"process_imu_readings": false,
"denoise_input_images": true,
"lhs_camera_frame": "v4l2_left_camera",
"rhs_camera_frame": "v4l2_right_camera"
}
}
}
}
Files elbrus_visual_slam_grayscale.subgraph.json and elbrus_visual_slam_rgb.subgraph.json are originals.
But I got message “WARN external/com_nvidia_isaac_engine/engine/alice/backend/node_canister.cpp@173: Can not start node ‘svo.svo_grayscale.tracker’ because it is not in the stage ‘constructed’ or ‘stopped’”
On Jetson Xavier I got same message.