Hello everyone,
I am currently working on my first project with a Jetson and am trying to realize the ISAAC VSLAM with two mono cameras (to represent a stereo input). The basic work is already done, the camera data (image and camera_info) are available. I’m currently having problems with the transform between the frames.
What I did so far?
I’ve calibrated the cameras using cameracalibrator as described here (Tutorial: Stereo Calibration — camera_calibration 0.1.0 documentation). I am publishing the values determined in this way in the corresponding camera_info topics.
When launching VSLAM I always get the following error message:
Warning: Invalid frame ID “base_link” passed to canTransform argument target_frame - frame does not exist
which leads to an abort with the following prompts:
Transform is impossible. canTransform(base_link->left_frame) returns false
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not find the requested transform!
What am I doing wrong? Do i have to provide a transform manually? I thought it should work with the information from the camera calibration files…
Thank you very much for your support.