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HITSZ-NRSL / Dynamic-VINS

[RA-L 2022] RGB-D Inertial Odometry for a Resource-restricted Robot in Dynamic Environments
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No Image received #2

Closed BloodLemonS closed 1 year ago

BloodLemonS commented 1 year ago

您好，当我按照文档运行的roslaunch的时候没有feature_image和sematic_image,请问是哪里出了问题吗？？ 2022-08-14 10-58-18屏幕截图

BloodLemonS commented 1 year ago

另外他在运行的时候报IMU信息混乱 2022-08-14 11-13-04屏幕截图

jianhengLiu commented 1 year ago

  1. 修改配置文件Dynamic-VINS/blob/main/config/openloris/openloris_vio.yaml中的

    show_track: 0           # publish tracking image as topic

    为

    show_track: 1           # publish tracking image as topic

    即可获得可视化输出

  2. 出现imu warning一般不影响结果，但若持续长时间的出现会影响性能。

BloodLemonS commented 1 year ago

已经解决了，感谢