Isaac ROS VSLAM Tracker is lost D435

[mr.lintse]

Hello there,

Does anyon know how to solce the “Tracker is lost” problem on Isaac ROS with Intel Realsense D435?

I am currently running it on my Ubuntu 22.04 laptop with NVIDIA Docker (Ubuntu 20.04 and CUDA 11.7).

“Tracker is lost” shows immediately the system is turned on, the camera is holding static in a well illuminated and full of featured office.

Does anyone know how to tell if " the wrong camerainfo is being published"?

Thanks in advance!

[hemals]

Does Isaac ROS VSLAM start to publish poses after you move the camera after this “tracker lost”? The “tracker lost” condition is not necessarily a failure here. You’ll also want to make sure to disable the Realsense IR emitter which can cause issues for VSLAM as a pattern that moves with you in the scene.

You can echo the camera_info topic and make sure at least the intrinsics/distortion parameters are present.

[mr.lintse]

Hi Hemals,

Thanks for the reply!

I turned off the emitters (no red light from the diodes), however, the result is still the same. And it lag severely. My GPU is GTX1060M, CPU Intel i7 (7th Gen).

ros2 topic echo /camera/infra1/camera_info returned the following:

/workspaces/isaac_ros-dev/src/isaac_ros_common$ ros2 topic echo /camera/infra1/camera_info
header:
stamp:
sec: 1673514136
nanosec: 502679296
frame_id: camera_infra1_optical_frame
height: 720
width: 1280
distortion_model: plumb_bob
d:

• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
  k:
• 896.721923828125
• 0.0
• 645.0199584960938
• 0.0
• 896.721923828125
• 367.41943359375
• 0.0
• 0.0
• 1.0
  r:
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
  p:
• 896.721923828125
• 0.0
• 645.0199584960938
• 0.0
• 0.0
• 896.721923828125
• 367.41943359375
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
  binning_x: 0
  binning_y: 0
  roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false

On the other hand, I checked the image, it looks pretty dark. Do you think it might be the problem?

[mr.lintse]

Also, when it turned on, there’s a message says “[component_container-1] [INFO] [1673514474.465927978] [visual_slam_node]: Enable IMU integrator: false”. Does that mean IMU is off?

[mr.lintse]

I found the problem! It was the camera, it turned out to be a D415, which doesn’t have a built-in IMU.