HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

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Coordinate systems #24

Closed K0stIa closed 7 years ago

K0stIa commented 7 years ago

Hi,

what is the slam coordinate system?

I found in code that IMU has this one: Z^ | /Y | / | / |/--------->X

Is the SLAM system same?

btw, machine hall dataset has this one, right? /Z / /	/--------->X

Thanks.

PeiliangLi commented 7 years ago

We use the first one in VINS-Mobile. Machine Hall Datasets were tested on ros version which runs on ubuntu and will be released soon.

K0stIa commented 7 years ago

Both, imu & visual have same coordinate system?

PeiliangLi commented 7 years ago

Of course not, it depends on the rotation and translation between IMU and camera. You can find the params in code. We treat the IMU frame as the body frame

K0stIa commented 7 years ago

yeah, could you point out where you apply this transformation?

K0stIa commented 7 years ago

am I right that these parameters define needed transformation?

define RIC_y ((double)0.0)

define RIC_p ((double)0.0)

define RIC_r ((double)180.0)

define TIC_X ((double)0.0)

define TIC_Y ((double)0.043)

define TIC_Z ((double)0.0)

Thanks in advance.

PeiliangLi commented 7 years ago

yes, right.

K0stIa commented 7 years ago

I still have problems with running your stuff on machine hall datasets. Would it be possible to send me parameters with which I can fly on these datasets? -K.

K0stIa commented 7 years ago

Currently, I am trying to use these extrinsics from the Machine Hall 01 easy dataset.

General sensor definitions.

sensor_type: camera comment: VI-Sensor cam0 (MT9M034)

Sensor extrinsics wrt. the body-frame.

T_BS: cols: 4 rows: 4 data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0]

PeiliangLi commented 7 years ago

VINS-Mobile is on iOS platform with living video and IMU data. How did you modify it to run with Euroc dataset? It's not an easy task unless you fully understand the whole pipeline.

K0stIa commented 7 years ago

I do not use loop closure for now. I am just trying to feed imu+timestamp and images(cam0)+timestamps into your code. I wrote separate driver for that which feeds data to VINS class. (I took intrinsics and extrinsics from MH01_easy dataset).

PeiliangLi commented 7 years ago

@K0stIa I highly recommend you to wait for our Ros-version, it will open source in 1～2 days and can reproduce the results easily without any modification.

K0stIa commented 7 years ago

thanks a lot @PeiliangLi, I am looking forward to it.

PeiliangLi commented 7 years ago

https://github.com/HKUST-Aerial-Robotics/VINS-Mono Open source now.

K0stIa commented 7 years ago

Thanks a lot @PeiliangLi, I will play with it. It looks really cool.