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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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I have a problem #130

Closed boeun98 closed 2 years ago

boeun98 commented 2 years ago

I used the ZED stereo camera.

I modified the topic in the launch files.

/zed/zed_node/left/image_rect_color /zed/zed_node/right/image_rect_color (in image_processor_euroc.launch)

but, I have a problem with the picture.

What should I modify??? . . . . And I don't know what is child_frame_id in msckf_vio_euroc.launch. . . . .

Screenshot from 2022-03-30 20-34-04

versatran01 commented 2 years ago

See #128. Zed is rolling-shutter so it is not supported.

boeun98 commented 2 years ago

Thanks! I solved that problem.

But, I don't know what is child_frame_id in msckf_vio_euroc.launch.

I modified the child_frame_id to /zed/zed_node/odom

but result is not good