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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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Few features run with MYNT-EYE #71

Closed GuaguaguaLiu closed 3 years ago

GuaguaguaLiu commented 5 years ago

Hello, thanks for your great job and open source sharing. I try to run S-MSCKF with MYNT-EYE (D1000) (I have gotten the device parameters) in real time, but can hardly detect feature points. I don't know why. Look forward to your reply. Thank you! 2018-12-19 21-24-24 2018-12-19 21-25-48 2018-12-19 21-26-29

ke-sun commented 5 years ago

This happens either because the calibration is not accurate enough or the cameras are not synchronized.

AbyssGaze commented 5 years ago

Hi @GuaguaguaLiu It is very likely that the calibration parameters are inaccurate. I also used mynteye camera, my calibration parameters are as below:

%YAML:1.0 cam0: T_cam_imu: [0.004333484028780699, 0.9998993957798755, -0.013506266516427737, 0.049255621055472265, -0.999977905916052, 0.004264951462670086, -0.005098810524933442, 0.006192861529920555, -0.005040693991942566, 0.013528063721817071, 0.9998957860177322, -0.014821571698691973, 0.0, 0.0, 0.0, 1.0] camera_model: pinhole distortion_coeffs: [-0.304389450911487, 0.08243019622631483, -0.0001842415692688673, -0.0016872307389398313] distortion_model: radtan intrinsics: [370.3189915369928, 370.08017425881485, 376.812343690345, 231.73306904533828] resolution: [752, 480] timeshift_cam_imu: 0.0038270640059334653 cam1: T_cn_cnm1: [0.9999430961265735, -0.0017428721610685386, 0.010524585760503222, -0.12272610545082556, 0.0017480717201660508, 0.9999983545764745, -0.0004848603949443476, -0.0003773176383777829, -0.010523723393417873, 0.0005032305352442027, 0.9999444974622167, 0.000453672405193498, 0.0, 0.0, 0.0, 1.0] camera_model: pinhole distortion_coeffs: [-0.3308491755680978, 0.10826874636568513, 0.0003066965101301845, 0.0016795692245386296] distortion_model: radtan intrinsics: [372.4207433648589, 372.5047406441362, 388.5435353169618, 223.32880019991458] resolution: [752, 480] timeshift_cam_imu: 0.003841518951950367 T_imu_body: [1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000, 0.0000, 0.0000, 0.0000, 0.0000, 1.0000] T_cam_gps: [1.0000, 0.0000, 0.0000, -0.0800, 0.0000, 1.0000, 0.0000, -0.3000, 0.0000, 0.0000, 1.0000, -0.2850, 0.0000, 0.0000, 0.0000, 1.0000]