Question regarding the initial orientation when recorded using Zed Xplore

Software C++
1

Hi,

I have a question regarding the initial orientation computed by positional tracking. When I use the live camera feed, the initial orientation is aligned with gravity. However, when I use the prerecorded svo2 files, the initial orientation is always identity. Why is it the case?

Best regards,

Chuan Huang

2

Hi @Huang-Chuan,

Does this happen with all your SVO2s? Could you send a sample SVO2 where this behavior happens?

Can you confirm the value of these parameters that you are using:

  • InitParameter.set_gravity_as_origin
  • PositionalTrackingParameters.mode
3

Yes, all my svo files have this issue. This issue happens with SDK 5.0.7. InitParameter.set_gravity_as_origin = false, PositionalTrackingParameters.mode = GEN3.

An example SVO file can be accessed here.

4

I also tested with the lastest SDK 5.1.1. When using positional tracking with pre-recorded svo2 file, the fusion mode showed visual, instead of visual inertial.

5

Hi, do you have updates on this behavior?

6

Hi @Huang-Chuan
Please verify if the same behavior is present using the GEN_2 and GEN_1 modes.

If you confirm they work as expected, it means that this is a bug of the GEN_3 that must be fixed.

Please use the latest ZED SDK v5.1.1 for the test.

7

Hi @Myzhar,

I used the lastest ZED SDK v.5.1.1. No matter what mode, GEN_1,2, 3, I chose, the positional tracking cannot enter visual-inertial mode when using pre-recorded svo2 files.

8

Hi @Huang-Chuan,

Thank you for reporting this. We’ve identified the issue internally and are preparing a fix for it. The issue is related to how the IMU data is read, meaning that the data in the SVOs is still valid.

The fix will be available in the next ZED SDK version