Re: cv::Exception Airsim implementation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/cv-Exception-Airsim-implementation-tp10281p10375.html

1) don't add:

<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_map" args="0 0 0 0 0 0 front_left_custom_optical map" />

2) it seems that the depth topic is better, though either the scale is wrong, or the world is very huge.

3) the TF tree doesn't look right. There is no base frame on the drone and from_left_custom_optical looks upside down. The drone_1 frame is actually a fixed frame, not the base frame:


4) The environment doesn't have a lot of visual textures, so visual odometry cannot work properly. I made this launch using the TF between drone_1 and from_left_custom_optical as odometry:

roslaunch rtabmap_launch rtabmap.launch \
   args:="-d" \
   use_sim_time:=true \
   rgb_topic:=/airsim_node/drone_1/front_left_custom/Scene \
   depth_topic:=/airsim_node/drone_1/front_left_custom/DepthPlanar \
   camera_info_topic:=/airsim_node/drone_1/front_left_custom/Scene/camera_info \
   odom_frame_id:=drone_1 \
   frame_id:=front_left_custom_optical \
   visual_odometry:=false

rosbag play --clock 2024-08-15-21-37-21.bag