Nvblox with multiple cameras in diferent angles

Hello!
We are using Jetson AGX Orin Developer Kit + Intel D435i and want to mount the camera at an angle of approximately 25 degrees. We set up and launched nvblox but the result was not what we expected. The attached image shows the result with the transformation publication of our current configuration after starting the nvblox example. Does Nvblox support angled cameras? Or does it just support the camera in the same plane as the robot’s movement?

Hi @rodrigo.delgado1

Based on your previous post at Nvblox cost map parameters - #2 by Raffaello, I believe you are working with Isaac ROS 2.1.

I suggest to switch to Isaac ROS 3.0. We’ve released a fix for the Realsense.
Simply run sudo apt-get update and reinstall the package to make it work.

The angled camera can be used at any angle you want. Please ensure the correct definition of your URDF file.
To better understand your image, is the camera looking at the ground or a wall?

Best,
Raffaello

Hi @Raffaello,

In the image the camera was pointed at the ground, but the camera projection was wrong.

I have already updated the entire software. I’m coming back to this topic because I couldn’t solve this problem. I have a camera with 20-25 degrees facing the ground. I posted the camera tf2 but when I initialize the nvblox example the degrees plane became the cost map plane and if I move the camera the cost map disappears for display.
The only thing that changed from how I had used it before is the use of static base_link instead of calculated from odometry because I am testing on a tripod instead of a full robot.
I attach a video with the problem described.

I fixed it by modifying base_frame in realsense_parameters in vslam.launch.py ​​using base_link instead of camera_link. It works well at least on display.

Hi @rodrigo.delgado1

Happy to hear that the issue has been resolved. I have marked your reply as the solution for this topic to keep the forum clear and helpful for all other developers. Feel free to open a new topic for other issues.

Raffaello

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