We have noticed with the ZED2i that the IMU data is not correct. The camera is registering motion even though the camera is not moving. We have checked it with our ZED2. Everything is fine with it.
The camera keeps registering that it is moving in the plane with a lot of angular acceleration. which causes any generated map to be false.
To reproduce the problem:
This can be simply done by accessing the ZED SDK Examples and accessing the example for:
The problem is also very obvious when trying to map the surroundings using the camera with RTAB-map
This also can be done by running opening a new terminal and running:
and in a new terminal:
$ source /catkin_ws/devel/setup.bash
$ roslaunch zed_rtabmap_example zed_rtabmap.launch
Kindly find attached the two screenshots after testing the same software setup with the 2 different cameras (one of them is known to be working fine)
First screenshot is from the working camera:
2nd screenshot from our ZED 2i:
We are suspecting a hardware malfunction, I am open to possible solutions and suggestions.