Problem when running SVO2.0 with external stereo camera about rpg_svo_example

[zhangzichao]

Is your stereo camera synchronized? We assume the stereo images are synchronized, as you can see here:
https://github.com/uzh-rpg/rpg_svo_example/blob/master/svo_ros/src/svo_interface.cpp#L348

If this is the case, I am not sure you will get good results from unsynchronized images. You can still try by changing the synchronization policy (http://wiki.ros.org/message_filters see Policy-Based Synchronizer).

[stanleywang-0-1]

I think the stereo camera is synchronized.
Besides, there was no evidence that the program is running, including the information produced in the shell or the moving camera in Rviz, even it is wrong. I doubt that the synchronization problem would lead to that.

[zhangzichao]

Difficult to tell just from looking at the terminal output ;)
You can do a quick check by add some log information in this function: https://github.com/uzh-rpg/rpg_svo_example/blob/master/svo_ros/src/svo_interface.cpp#L221 to see whether it actually sends the images to svo. Recording a bag to check the timestamps also will help.

[stanleywang-0-1]

Well, it seems that the image topics published by the camera didn't send images to the topics of svo that receive images. I'm still trying to figure it out.
Edit: Actually it's a synchronization problem. I did't check it carefully.

[wowdeath]

Have you solved this problem successful? I have met the same question.