admin@amr:/workspaces/isaac_ros-dev$ ros2 topic list
/events/read_split
/front_stereo/left/camera_info
/front_stereo/left/image_compressed
/front_stereo/right/camera_info
/front_stereo/right/image_compressed
/imu
/parameter_events
/rosout
/tf
/tf_static
/visual_slam/vis/slam_odometry
what this is error?
Hi @AMR_all
Thank you for your post.
It looks the keyframe info is missing in your metadata file.
If you want to try pre-recorded rosbag, you can use this demo.
Quickstart with a Pre-recorded Rosbag
Best,
Ahung
thank you I tried . What values do I need to record?
this my
/back_stereo_camera/left/camera_info
/back_stereo_camera/left/image_compressed
/back_stereo_camera/right/camera_info
/back_stereo_camera/right/image_compressed
/chassis/imu
/chassis/odom
/clock
/events/read_split
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/image_compressed
/front_stereo_camera/right/camera_info
/front_stereo_camera/right/image_compressed
/front_stereo_imu/imu
/left_stereo_camera/left/camera_info
/left_stereo_camera/left/image_compressed
/left_stereo_camera/right/camera_info
/left_stereo_camera/right/image_compressed
/parameter_events
/right_stereo_camera/left/camera_info
/right_stereo_camera/left/image_compressed
/right_stereo_camera/right/camera_info
/right_stereo_camera/right/image_compressed
/rosout
/tf
/tf_static
and this your demo recored
/back_stereo_camera/left/camera_info
/back_stereo_camera/left/image_compressed
/back_stereo_camera/right/camera_info
/back_stereo_camera/right/image_compressed
/chassis/battery_state
/chassis/imu
/chassis/odom
/chassis/ticks
/events/read_split
/front_stereo_camera/left/camera_info
/front_stereo_camera/left/image_compressed
/front_stereo_camera/right/camera_info
/front_stereo_camera/right/image_compressed
/front_stereo_imu/imu
/left_stereo_camera/left/camera_info
/left_stereo_camera/left/image_compressed
/left_stereo_camera/right/camera_info
/left_stereo_camera/right/image_compressed
/parameter_events
/right_stereo_camera/left/camera_info
/right_stereo_camera/left/image_compressed
/right_stereo_camera/right/camera_info
/right_stereo_camera/right/image_compressed
/rosout
/tf
/tf_static
how will I get keyframe ?
Hi @AMR_all ,
Would you mind posting the complete log of you run?
the keyframe are just images extracted from the ROS bag, if there is no keyframes, that means the image extraction from rosbag failed.
Are you using our isaac_ros_data_recorder to record this ROS bag?
Hi @dizeng
I used isaac_ros_data_recorder and I have new error this picture
pls your check.
Hi @AMR_all ,
It seems the data converter fails to infer a stereo pair based on the transform between left and right camera, you can manually add that stereo pair by modifying raw/frames_meta.json file
"stereoPair": [
{
"leftCameraParamId": "0",
"rightCameraParamId": "1",
"baselineMeters": YOUR_CAMERA_BASELINE
},
]
It would also be nice if you can show me your left camera optical to right camera optical transform, so we can understand why our logic for inferring stereo pairs are not correct. To do that you can use
ros2 run tf2_ros tf2_echo $LEFT_CAEMRA_OPTICAL $RIGHT_CAMERA_OPTICAL