Can I run svo on my own bag which only has image frames in topic?
Lucksong opened this issue · 2 comments
I have installed svo and test the example successfully, but when I run it on my own data it only shows images and cant estimate the camera pose.
As the log shows: My bag only has /dvs/image_raw, and the example bag has many other topics, what should I do to run svo on my own bag?
usr@usr:~/svo_ws/src/SVO/rpg_svo/svo_ros/data$ rosbag info airground_rig_s3_2013-03-18_21-38-48.bag
path: airground_rig_s3_2013-03-18_21-38-48.bag
version: 2.0
duration: 2:42s (162s)
start: Mar 19 2013 04:38:50.32 (1363639130.32)
end: Mar 19 2013 04:41:32.76 (1363639292.76)
size: 1.7 GB
messages: 61273
compression: none [1625/1625 chunks]
types: geometry_msgs/PoseStamped [d3812c3cbc69362b77dc0b19b345f8f5]
geometry_msgs/Vector3Stamped [7b324c7325e683bf02a9b14b01090ec7]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
topics: /imu/magnetometer 16244 msgs : geometry_msgs/Vector3Stamped
Rig 19039 msgs : geometry_msgs/PoseStamped
camera/camera_info 4873 msgs : sensor_msgs/CameraInfo
camera/image_raw 4873 msgs : sensor_msgs/Image
imu/data 16244 msgs : sensor_msgs/Imu
usr@usr:~/svo_ws/src/SVO/rpg_svo/svo_ros/data$ rosbag info DAVIS240C-2018-11-26T16-51-05+0800-08360021-0.bag
path: DAVIS240C-2018-11-26T16-51-05+0800-08360021-0.bag
version: 2.0
duration: 15.5s
start: Jan 01 1970 08:03:43.94 (223.94)
end: Jan 01 1970 08:03:59.39 (239.39)
size: 115.6 MB
messages: 533
compression: none [126/126 chunks]
types: dvs_msgs/EventArray [5e8beee5a6c107e504c2e78903c224b8]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
topics: /dvs/events 349 msgs : dvs_msgs/EventArray
/dvs/image_raw 184 msgs : sensor_msgs/Image
Of course it works with only image topic in bag file.
But the topic published should be camera/image_raw.
I also want to run SVO with my own rosbag, but I don't even have an image, as if nothing happened @Lucksong