VIN-Fusion config with Realsense D435i

佚名 6年前 (2019-04-22) 随笔 2107人围观抢沙发百度已收录

Copy the .launch file in package VINS-Fusion to the directory of realsense2_cameara/launch

$ cp /home/william/catkin_ws/src/VINS-Fusion/config/realsense_d435i/rs_camera.launch /home/william/catkin_ws/src/realsense-2.1.3/realsense2_camera/launch/rs_imu_camear.launch

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml

roslaunch realsense2_camera rs_imu_camera.launch

then error occured

[ERROR] [1555901595.625850921]: Hardware Notification:Right MIPI error,1.5559e+12,Error,Hardware Error

change the USB and Type-C hardware interface to another one because sometimes someone might don't work.

SRE实战互联网时代守护先锋，助力企业售后服务体系运筹帷幄！一键直达领取阿里云限量特价优惠。

rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
[ INFO] [1555916680.872819604]: init begins
config_file: /home/william/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /camera/imu
result path /home/william/Documents/output/vinsFusion//vio.csv
[ WARN] [1555916726.571724172]:  Optimize extrinsic param around initial guess!
camera number 2
[ INFO] [1555916726.571853778]: Unsynchronized sensors, online estimate time offset, initial td: 0
[ INFO] [1555916726.571872262]: ROW: 480 COL: 640 
 exitrinsic cam 0
-0.00575863 -0.00404633    0.999975
  -0.999983 -0.00102246 -0.00576281
 0.00104575   -0.999991 -0.00404037
 0.0203293 0.00793252 0.00285598
 exitrinsic cam 1
-0.00100218 0.000363135    0.999999
  -0.999992 -0.00383034 -0.00100078
 0.00382998   -0.999993 0.000366971
 0.0152858 -0.0524358 0.00869313
set g     0     0 9.805
[ INFO] [1555916726.572012229]: reading paramerter of camera /home/william/catkin_ws/src/VINS-Fusion/config/realsense_d435i/left.yaml
[ INFO] [1555916726.572176400]: reading paramerter of camera /home/william/catkin_ws/src/VINS-Fusion/config/realsense_d435i/right.yaml
MULTIPLE_THREAD is 1
[ WARN] [1555916726.572294355]: waiting for image and imu...
throw img0
throw img1
init first imu pose
averge acc -1602603144.533333 534233088.000000 534354329.600000
init R0 
 0.426462  0.639509  0.639655
        0  0.707187 -0.707027
-0.904506   0.30152  0.301588
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[ WARN] [1555916728.459035454]: gyroscope bias initial calibration -0.0933654   0.265827 -0.0616124
[ WARN] [1555916728.463995949]: numerical unstable in preintegration
[ WARN] [1555916728.464149835]: numerical unstable in preintegration
[ WARN] [1555916728.470874921]: numerical unstable in preintegration
...

~$ roscd vins
~/catkin_ws/src/VINS-Fusion/vins_estimator$ grep -rn * -ie preintegration
src/factor/imu_factor.h:90:                ROS_WARN("numerical unstable in preintegration");
src/factor/imu_factor.h:116:                    ROS_WARN("numerical unstable in preintegration");