I was having some issues with spatial mapping where it seemed like for whatever reason the tracking would simply just believe that the yaw is now 40 degrees different than the previous frame and it was producing several disconnected regions in the mesh which should have been continuous. I was watching through the SVO recording and noticed something very strange in a very small number of frames.
Usually when you watch an SVO in one of the playback tools, each frame is displayed side by side. But very rarely I see frames in my svo recordings where instead of each frame being side by side, it looks like one frame is in the middle and there are partial frames on either side. I attached some images below which are the frame before, the frame which has the issue, and the frame after. I can also send an SVO file if that is more helpful.
I’ve been attempting to include RTK data into the recordings recently so I thought it might have something to do with me not setting up the threading properly in my code and maybe a write operation was getting stepped on. But I recorded a regular svo using zed explorer and the issue is even occurring from those recordings as well. For reference, these recordings are 1080p@30 with H264 compression. This is on a windows 11 laptop with an RTX4070 with up to date drivers and SDK version 5.2.3. I ran the diagnostic tool thinking that maybe it could be bandwidth related but everything passed.
I would greatly appreciate any help on this because I’m completely out of ideas.
This one was recorded with the code that embeds the gnss json into the svo file.
And this one was just recorded using Zed Explorer.
