I am using a Realsense D450 camera with Isaac ROS Visual SLAM. In general when moving it works quite well. I found I had to adjust the imu noise terms to get rid of pose jumping with normal motion. The problem is that while sitting stationary after having been moving around the pose will suddenly jump after a few seconds. I am monitoring the logs and I dont see any complaints from the software so I’m trying to understand how I can make adjustments to prevent this jumping. I have checked both the /visual_slam/tracking/odometry and /visual_slam/vis/slam_odometry and I get similar jumping between them. I tried turning up the frame rate from 60 to 90 fps.
I have been monitoring the framerates and I get the expected frequency from the stereo camera and the imu.
Hi @brian1, could you please share a rosbag (tutorial) for us to better investigate?
Based on your description, there could be several reasons causing the sudden jump of vslam pose:
- Not many features or sudden feature change (lighting change, etc) at where you stop it
- Not good camera/imu calibration. This is less likely considering that it works well when in motion
- Changing noise patterns when the IMU is static. You might want to log IMU data when it is static
I thought I had saved an mcap file with the issues but it turns out the file I saved did not contain the camera topics. I had to send my equipment with one of our sales team, but I should have equipment again at the end of this week or early next week. Please dont close my question as I will post an mcap file shortly.