ToF camera integration with Nvblox about isaac_ros_nvblox HOT 8 CLOSED

Hi @alexmillane ,

Please find the attached image. I tried to feed depth data from ToF into NVBLOX with wheel odometry as a input. Typically with Realsense it works (with only depth data).

Is there any recommendation to resolve the working of NVBLOX reconstruction using ToF's depth data?

Right side shows the logs of NVBLOX and left side shows the depth data feed.

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Working example with Realsense.

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The usual reason for getting no reconstruction is:

• A topic mismatch.
• A missing link between the sensor frame and the mapping frame on the TF tree.

Could you check if the depth topic is correctly mapped such that depth images are arriving at nvblox? Then I would check if a link exists between your depth optical frame (which is specified in the frame_id entry in your depth image header), and the mapping frame, which is by default odom.

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Hi @alexmillane Thank you for your quick response and apologies for not giving enough info.

I am sharing topics name, topics info, changes done in files in this post.

First, my camera topics are:

/cam1/depth_image_nvblox
/cam1/camera_info_sync
and my camera frame id is > "camera_link_optical"

Topics mismatch
I have remapped two topics in https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox/blob/v2.0.0/nvblox_examples/nvblox_examples_bringup/launch/nvblox/nvblox.launch.py

and changed frame id in config file given at https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox/blob/v2.0.0/nvblox_examples/nvblox_examples_bringup/config/nvblox/specializations/nvblox_realsense.yaml

I have checked weather the data is arriving and proper? It seems perfect as shown in below image.

A missing link between the sensor frame and the mapping frame on the TF tree.

Once I launched the node, I checked TF tree. Here is the image showing my TF tree.

Let me know If I missed to provide any information.

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Note that I have tested it in both v.2.0 and v0.31.0-dp.

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Hi @alexmillane any inputs/suggestions ?

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Hi, @naitiknakrani-eic can you post the following so we can try to reproduce this?
Rosbag containing:

1. real sense stereoimages
2. Tof depth images
3. Rgb images
4. Tf
   Launch file
   Nvblox config file

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Thank you @alexmillane and @ashwinvkNV for your support. The time sync between depth and camera_info works for us and nvblox gave voxel map.

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