Im running Isaac 3.0 visual slam on Jetson Orin NX 8GB.
Getting the error:
[component_container-1] [ERROR] Bad calibration. cuVSLAM is supposed to work with at least one stereo pair available.
[component_container-1] [WARNING] Camera 0 has no common FoV with any other camera, it will be excluded from VIO.
[component_container-1] [WARNING] Camera 1 has no common FoV with any other camera, it will be excluded from VIO.
Cameras are two IMX-219-120 (15cm baseline) that are connected via CSI using isaac ros argus camera. Camera info is obtained by ini file:
left_camera.ini :
# oST version 5.0 parameters
[image]
width
1280
height
720
[left]
camera matrix
824.258209 0.000000 653.161215
0.000000 829.566984 340.541783
0.000000 0.000000 1.000000
distortion
0.057233 -0.002177 0.000400 -0.000755 0.000000
rectification
0.999714 -0.006497 -0.023015
0.006195 0.999894 -0.013172
0.023098 0.013026 0.999648
projection
909.586289 0.000000 677.076561 0.000000
0.000000 909.586289 345.599789 0.000000
0.000000 0.000000 1.000000 0.000000
right_camera.ini:
# oST version 5.0 parameters
[image]
width
1280
height
720
[right]
camera matrix
835.195528 0.000000 644.404596
0.000000 838.765203 349.053460
0.000000 0.000000 1.000000
distortion
0.044235 0.005787 -0.000549 -0.000271 0.000000
rectification
0.999740 -0.000795 -0.022799
0.001093 0.999914 0.013089
0.022787 -0.013110 0.999654
projection
909.586289 0.000000 677.076561 -135.697872
0.000000 909.586289 345.599789 0.000000
0.000000 0.000000 1.000000 0.000000
CameraInfo topics display the correct information.
Left camera frame is
0.195; 0.078; 0.18 from base link with 0.52393; -0.52393; 0.47486; -0.47486 orientation
Right camera is
0.195; -0.072; 0.18 from base link with 0.52393; -0.52393; 0.47486; -0.47486 orientation
Slam set to work with 'camera_optical_frames': ['camera_left_link_optical_slam', 'camera_right_link_optical_slam']
How to fix Camera 0 has no common FoV with any other camera error?
PS: I have tried adding a rectify node but it says “visual tracking lost” probably because the image is black
Thank you