ZED SDK 5.1.2 performing worse than 5.0.5

Software ROS2
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21

I tried with depth set to none and area memory turned off and it freezed at that exact moment

22

Please share your settings and an SVO to try to replicate and fix the issue.

23

Here’s the link to the SVO, I tried playing it back but the issue doesn’t happen with SVO playing, it is reproducible in real time so if there are any real time debugging tools/logs I can provide please let me know

24

We have identified an issue with GEN_3 in v5.2 when using it with ZED 2i.
This issue is caused by a different way of using the IMU information, and it only appears when using the ROS 2 Wrapper.

We are working hard to fix it as soon as possible.

25

Hi, thanks for the response! Please let me know once it’s available. Looking forward to testing the fix.

26

could you please also share your thoughts on this → ZED position tracking 2D mode constraint whenever you get a chance!

Thanks!

27

@Myzhar
Hey, just to tack on to this.
Similar issues observed, using ZEDX on AGX ORIN with sdk 5.2
We are tracking motion really well until we move in a low feature environment. As we move the camera past a textureless wall (white wall), odom degrades, and depth topics publish at significantly lower rate. “[component_container_mt-1] [WARN] [1771008559.131760339] [zed_node]: Pos. Track. seems to be locked (pose diff.: 0 m) since 96 frames - Status: OFF”

It can similarly be reproduced by covering the camera while in motion and uncovering. Tracking is broken, i assume it is with the logic for fusing IMU and VIO data when one drops out.

pos_tracking_mode: ‘GEN_3’
two_d_mode: true
imu_fusion: true
floor_alignment: false
area_memory: false
sensors_pub_rate: 200.0

Overall, great performance amazing work and congratulations on the acquisition news.

28

@Sebastian can you please record an SVO in the same conditions to replicate this behavior and share it with us?
It will be useful to test the algorithms of the SDK and fix them.

1 Like
29

Hi, is this issue fixed?

30

Hi, is this issue fixed?

[Discourse post]

31

Please wait for the release of the next patch of the ZED SDK, i.e. v5.2.1.

32

Thanks for the response! any tentative dates to look for?

Thx!