luxonis
stereo_inertial_publisher.launch given wrong left/right image synchronization.
Hello, I am using the "OAK-D-PRO-W POE" camera and stereo_inertial_publisher.launch file for rtabmap slam in ros noetic. My camera is well calibrated and i also checked the time synchronization between left and right images and the time stamps are almost similar of difference < 0.0001s. So therefore i am using "approx_sync:=true" and "approx_sync_max_interval:=0.001". But when i created a map with rtabmap slam, i checked that the in the map the camera is not properly synchronizing the left and right images an d i see that on some links the left image is synchronized with the wrong right image.
As, we can easily see from the above GUI example that the left image is synchronized with the wrong right image. The right side is the resulting point clouds for two consecutive frames. The red one is generated from the top image, where we see that disparity is way larger than the one below for similar point of view. This issue is giving me the bad localization in my SLAM.
Can you please help me , how i get the synchronized left and right image?
