JIANG-CX commented 9 months ago

论文中的实物实验就是使用了“Run in ROS（full SLAM）” 中的代码，谢谢。

chenghaozhangswu commented 9 months ago

抱歉，我没有看懂，应该如何通过指令进入实时重建，还是说需要提前录制bag才行？

JIANG-CX commented 9 months ago

实际使用时不需要录制bag，只需要更改topic名字与config文件，使得和你使用的rgbd相机的输入适配就可以。

chenghaozhangswu commented 9 months ago

实际使用时不需要录制bag，只需要更改topic名字与config文件，使得和你使用的rgbd相机的输入适配就可以。

应该从哪里进入呢，是按照哪个步骤进行？

JIANG-CX commented 9 months ago

流程与Run in ROS（full SLAM）和其中的self-captured house dataset相同（只是不需要播bag，而是传感器实时输入），config的设置请参看Run in ROS（full SLAM）的第三点，以及其中use your own rgbd dataset中的注意事项

chenghaozhangswu commented 9 months ago

流程与Run in ROS（full SLAM）和其中的self-captured house dataset相同（只是不需要播bag，而是传感器实时输入），config的设置请参看Run in ROS（full SLAM）的第三点，以及其中use your own rgbd dataset中的注意事项

我使用的也是l515，是使用roslaunch realsense2_camera rs_aligned_depth_lidar.launch &取代播放bag吗？rs_aligned_depth_lidar.launch这里是如何配置的？

JIANG-CX commented 9 months ago

l515的配置可以参看 https://github.com/IntelRealSense/realsense-ros

chenghaozhangswu commented 9 months ago

l515的配置可以参看 https://github.com/IntelRealSense/realsense-ros

能否提供一个用自己l515相机实时扫描的操作步骤参考，谢谢

JIANG-CX commented 9 months ago

根据readme中Use your own RGB-D sequence修改config文件根据https://github.com/IntelRealSense/realsense-ros 启动 realsense 根据readme中Self-captured House dataset的步骤3、4启动mapping和tracking

chenghaozhangswu commented 9 months ago

根据readme中Use your own RGB-D sequence修改config文件根据https://github.com/IntelRealSense/realsense-ros 启动 realsense 根据readme中Self-captured House dataset的步骤3、4启动mapping和tracking

您好，请问能否提供那个realsense启动文件

JIANG-CX commented 9 months ago

根据readme中Use your own RGB-D sequence修改config文件根据https://github.com/IntelRealSense/realsense-ros 启动 realsense 根据readme中Self-captured House dataset的步骤3、4启动mapping和tracking

您好，请问能否提供那个realsense启动文件

请根据自己的场景来设置诸如曝光等realsense参数，realsense的文档已经清楚写明了如何启动Usage Instructions，谢谢

chenghaozhangswu commented 9 months ago

根据readme中Use your own RGB-D sequence修改config文件根据https://github.com/IntelRealSense/realsense-ros 启动 realsense 根据readme中Self-captured House dataset的步骤3、4启动mapping和tracking

您好，请问能否提供那个realsense启动文件

请根据自己的场景来设置诸如曝光等realsense参数，realsense的文档已经清楚写明了如何启动Usage Instructions，谢谢

能提供案例中录制tower_compass.bag的launch文件参考吗？

JIANG-CX commented 9 months ago

launch 文件：

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="json_file_path"      default="$(find realsense2_camera)/config/L515_config_tower_manual_expo_white_high_bright_2.json"/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="true"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra_width"         default="640"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="400"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>
  <arg name="enable_pose"         default="true"/>

  <arg name="enable_pointcloud"   default="false"/>
  <arg name="enable_sync"         default="true"/>
  <arg name="align_depth"         default="true"/>

  <arg name="filters"                   default=""/>
  <arg name="clip_distance"             default="-1"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/> <!-- Options are: [none, copy, linear_interpolation] -->

  <rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true

      /camera/rgb_camera/enable_auto_exposure: false
      /camera/rgb_camera/enable_auto_white_balance: false

      /camera/rgb_camera/exposure: 100
      /camera/rgb_camera/white_balance: 4500
      /camera/rgb_camera/gain: 4096    

      /camera/l500_depth_sensor/min_distance: 100
      /camera/l500_depth_sensor/noise_filtering: 6 

  </rosparam>

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>
      <param name="enable_pose"            value="$(arg enable_pose)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
    </include>
  </group>

  <!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find realsense2_camera)/rviz/rs_aligned_depth.rviz" /> -->

</launch>

config文件：

{
    "device": {
        "fw version": "01.05.08.01",
        "name": "Intel RealSense L515",
        "product line": "L500"
    },
    "parameters": {
        "Alternate IR": 0.0,
        "Apd Temperature": -9999,
        "Confidence Threshold": 1,
        "Depth Offset": 4.5,
        "Depth Units": 0.000250000011874363,
        "Digital Gain": 1,
        "Enable IR Reflectivity": 0.0,
        "Enable Max Usable Range": 0.0,
        "Error Polling Enabled": 1,
        "Frames Queue Size": 16,
        "Freefall Detection Enabled": 1,
        "Global Time Enabled": 1,
        "Host Performance": 0.0,
        "Humidity Temperature": 36.1058959960938,
        "Inter Cam Sync Mode": 0.0,
        "Invalidation Bypass": 0.0,
        "LDD temperature": 36.3938369750977,
        "Laser Power": 100,
        "Ma Temperature": 34.7539749145508,
        "Mc Temperature": 35.9714241027832,
        "Min Distance": 250,
        "Noise Estimation": 0.0,
        "Noise Filtering": 6,
        "Post Processing Sharpening": 1,
        "Pre Processing Sharpening": 0.0,
        "Receiver Gain": 9,
        "Sensor Mode": 0.0,
        "Visual Preset": 0.0
    },
    "schema version": 1,
    "viewer": {
        "stream-depth-format": "Z16",
        "stream-fps": "30",
        "stream-height": "480",
        "stream-ir-format": "Y8",
        "stream-width": "640"
    }
}

chenghaozhangswu commented 9 months ago

launch 文件：

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="json_file_path"      default="$(find realsense2_camera)/config/L515_config_tower_manual_expo_white_high_bright_2.json"/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="true"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra_width"         default="640"/>
  <arg name="infra_height"        default="480"/>
  <arg name="enable_infra1"       default="false"/>
  <arg name="enable_infra2"       default="false"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="400"/>
  <arg name="accel_fps"           default="400"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>
  <arg name="enable_pose"         default="true"/>

  <arg name="enable_pointcloud"   default="false"/>
  <arg name="enable_sync"         default="true"/>
  <arg name="align_depth"         default="true"/>

  <arg name="filters"                   default=""/>
  <arg name="clip_distance"             default="-1"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/> <!-- Options are: [none, copy, linear_interpolation] -->

  <rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true

      /camera/rgb_camera/enable_auto_exposure: false
      /camera/rgb_camera/enable_auto_white_balance: false

      /camera/rgb_camera/exposure: 100
      /camera/rgb_camera/white_balance: 4500
      /camera/rgb_camera/gain: 4096    

      /camera/l500_depth_sensor/min_distance: 100
      /camera/l500_depth_sensor/noise_filtering: 6 

  </rosparam>

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>
      <param name="enable_pose"            value="$(arg enable_pose)"/>

      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
    </include>
  </group>

  <!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find realsense2_camera)/rviz/rs_aligned_depth.rviz" /> -->

</launch>

config文件：

{
    "device": {
        "fw version": "01.05.08.01",
        "name": "Intel RealSense L515",
        "product line": "L500"
    },
    "parameters": {
        "Alternate IR": 0.0,
        "Apd Temperature": -9999,
        "Confidence Threshold": 1,
        "Depth Offset": 4.5,
        "Depth Units": 0.000250000011874363,
        "Digital Gain": 1,
        "Enable IR Reflectivity": 0.0,
        "Enable Max Usable Range": 0.0,
        "Error Polling Enabled": 1,
        "Frames Queue Size": 16,
        "Freefall Detection Enabled": 1,
        "Global Time Enabled": 1,
        "Host Performance": 0.0,
        "Humidity Temperature": 36.1058959960938,
        "Inter Cam Sync Mode": 0.0,
        "Invalidation Bypass": 0.0,
        "LDD temperature": 36.3938369750977,
        "Laser Power": 100,
        "Ma Temperature": 34.7539749145508,
        "Mc Temperature": 35.9714241027832,
        "Min Distance": 250,
        "Noise Estimation": 0.0,
        "Noise Filtering": 6,
        "Post Processing Sharpening": 1,
        "Pre Processing Sharpening": 0.0,
        "Receiver Gain": 9,
        "Sensor Mode": 0.0,
        "Visual Preset": 0.0
    },
    "schema version": 1,
    "viewer": {
        "stream-depth-format": "Z16",
        "stream-fps": "30",
        "stream-height": "480",
        "stream-ir-format": "Y8",
        "stream-width": "640"
    }
}

感谢您的解答，我已经成功地将数据传入，但是在生成mesh的时候又出现了： Traceback (most recent call last): File "demo/run_mapping.py", line 26, in slam.run() File "/home/nvidia/H2-Mapping/mapping/src/H2Mapping.py", line 26, in run self.mapper.run(self.firstframe, update_pose=self.update_pose) File "/home/nvidia/H2-Mapping/mapping/src/mapping.py", line 252, in run mesh = self.extract_mesh(res=self.mesh_res, clean_mesh=False, map_states=self.map_states) AttributeError: 'Mapping' object has no attribute 'map_states' 这个问题

JIANG-CX commented 9 months ago

请问出现mapping start了吗？应该还是和输入的数据有关，请对比我们提供的bag，看下哪里不同。谢谢。

发件人: chenghaozhangswu @.> 发送时间: 星期一, 十月 16, 2023 10:10 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

launch 文件：

/camera/motion_module/global_time_enabled: true /camera/l500_depth_sensor/global_time_enabled: true /camera/rgb_camera/global_time_enabled: true /camera/rgb_camera/enable_auto_exposure: false /camera/rgb_camera/enable_auto_white_balance: false /camera/rgb_camera/exposure: 100 /camera/rgb_camera/white_balance: 4500 /camera/rgb_camera/gain: 4096 /camera/l500_depth_sensor/min_distance: 100 /camera/l500_depth_sensor/noise_filtering: 6

config文件：

{ "device": { "fw version": "01.05.08.01", "name": "Intel RealSense L515", "product line": "L500" }, "parameters": { "Alternate IR": 0.0, "Apd Temperature": -9999, "Confidence Threshold": 1, "Depth Offset": 4.5, "Depth Units": 0.000250000011874363, "Digital Gain": 1, "Enable IR Reflectivity": 0.0, "Enable Max Usable Range": 0.0, "Error Polling Enabled": 1, "Frames Queue Size": 16, "Freefall Detection Enabled": 1, "Global Time Enabled": 1, "Host Performance": 0.0, "Humidity Temperature": 36.1058959960938, "Inter Cam Sync Mode": 0.0, "Invalidation Bypass": 0.0, "LDD temperature": 36.3938369750977, "Laser Power": 100, "Ma Temperature": 34.7539749145508, "Mc Temperature": 35.9714241027832, "Min Distance": 250, "Noise Estimation": 0.0, "Noise Filtering": 6, "Post Processing Sharpening": 1, "Pre Processing Sharpening": 0.0, "Receiver Gain": 9, "Sensor Mode": 0.0, "Visual Preset": 0.0 }, "schema version": 1, "viewer": { "stream-depth-format": "Z16", "stream-fps": "30", "stream-height": "480", "stream-ir-format": "Y8", "stream-width": "640" } }

感谢您的解答，我已经成功地将数据传入，但是在生成mesh的时候又出现了： Traceback (most recent call last): File "demo/run_mapping.py", line 26, in slam.run() File "/home/nvidia/H2-Mapping/mapping/src/H2Mapping.py", line 26, in run self.mapper.run(self.firstframe, update_pose=self.update_pose) File "/home/nvidia/H2-Mapping/mapping/src/mapping.py", line 252, in run mesh = self.extract_mesh(res=self.mesh_res, clean_mesh=False, map_states=self.map_states) AttributeError: 'Mapping' object has no attribute 'map_states' 这个问题

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H2-Mapping/issues/8#issuecomment-1763618311, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTXNZWFOCPA7EBCOHDX7SJSDAVCNFSM6AAAAAA5WVNSROVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTONRTGYYTQMZRGE. You are receiving this because you commented.Message ID: @.***>

chenghaozhangswu commented 9 months ago

请问出现mapping start了吗？应该还是和输入的数据有关，请对比我们提供的bag，看下哪里不同。谢谢。 … ____ 发件人: chenghaozhangswu @.> 发送时间: 星期一, 十月 16, 2023 10:10 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8) launch 文件： /camera/motion_module/global_time_enabled: true /camera/l500_depth_sensor/global_time_enabled: true /camera/rgb_camera/global_time_enabled: true /camera/rgb_camera/enable_auto_exposure: false /camera/rgb_camera/enable_auto_white_balance: false /camera/rgb_camera/exposure: 100 /camera/rgb_camera/white_balance: 4500 /camera/rgb_camera/gain: 4096 /camera/l500_depth_sensor/min_distance: 100 /camera/l500_depth_sensor/noise_filtering: 6 config文件： { "device": { "fw version": "01.05.08.01", "name": "Intel RealSense L515", "product line": "L500" }, "parameters": { "Alternate IR": 0.0, "Apd Temperature": -9999, "Confidence Threshold": 1, "Depth Offset": 4.5, "Depth Units": 0.000250000011874363, "Digital Gain": 1, "Enable IR Reflectivity": 0.0, "Enable Max Usable Range": 0.0, "Error Polling Enabled": 1, "Frames Queue Size": 16, "Freefall Detection Enabled": 1, "Global Time Enabled": 1, "Host Performance": 0.0, "Humidity Temperature": 36.1058959960938, "Inter Cam Sync Mode": 0.0, "Invalidation Bypass": 0.0, "LDD temperature": 36.3938369750977, "Laser Power": 100, "Ma Temperature": 34.7539749145508, "Mc Temperature": 35.9714241027832, "Min Distance": 250, "Noise Estimation": 0.0, "Noise Filtering": 6, "Post Processing Sharpening": 1, "Pre Processing Sharpening": 0.0, "Receiver Gain": 9, "Sensor Mode": 0.0, "Visual Preset": 0.0 }, "schema version": 1, "viewer": { "stream-depth-format": "Z16", "stream-fps": "30", "stream-height": "480", "stream-ir-format": "Y8", "stream-width": "640" } } 感谢您的解答，我已经成功地将数据传入，但是在生成mesh的时候又出现了： Traceback (most recent call last): File "demo/run_mapping.py", line 26, in slam.run() File "/home/nvidia/H2-Mapping/mapping/src/H2Mapping.py", line 26, in run self.mapper.run(self.firstframe, update_pose=self.update_pose) File "/home/nvidia/H2-Mapping/mapping/src/mapping.py", line 252, in run mesh = self.extract_mesh(res=self.mesh_res, clean_mesh=False, map_states=self.map_states) AttributeError: 'Mapping' object has no attribute 'map_states' 这个问题 ― Reply to this email directly, view it on GitHub<#8 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTXNZWFOCPA7EBCOHDX7SJSDAVCNFSM6AAAAAA5WVNSROVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTONRTGYYTQMZRGE. You are receiving this because you commented.Message ID: @.***>

出现了mapping start

JIANG-CX commented 9 months ago

mapping start后有出现数字吗？没有的话就说明输入的数据不对。请确认readme中“use your rgbd sequence”的note都注意到了。同时建议debug step by step看一下和播放bag的运行有什么区别。

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发件人: chenghaozhangswu @.> 发送时间: Monday, October 16, 2023 10:38:42 AM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

请问出现mapping start了吗？应该还是和输入的数据有关，请对比我们提供的bag，看下哪里不同。谢谢。 … ____ 发件人: chenghaozhangswu @.> 发送时间: 星期一, 十月 16, 2023 10:10 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8https://github.com/SYSU-STAR/H2-Mapping/issues/8) launch 文件： /camera/motion_module/global_time_enabled: true /camera/l500_depth_sensor/global_time_enabled: true /camera/rgb_camera/global_time_enabled: true /camera/rgb_camera/enable_auto_exposure: false /camera/rgb_camera/enable_auto_white_balance: false /camera/rgb_camera/exposure: 100 /camera/rgb_camera/white_balance: 4500 /camera/rgb_camera/gain: 4096 /camera/l500_depth_sensor/min_distance: 100 /camera/l500_depth_sensor/noise_filtering: 6 config文件： { "device": { "fw version": "01.05.08.01", "name": "Intel RealSense L515", "product line": "L500" }, "parameters": { "Alternate IR": 0.0, "Apd Temperature": -9999, "Confidence Threshold": 1, "Depth Offset": 4.5, "Depth Units": 0.000250000011874363, "Digital Gain": 1, "Enable IR Reflectivity": 0.0, "Enable Max Usable Range": 0.0, "Error Polling Enabled": 1, "Frames Queue Size": 16, "Freefall Detection Enabled": 1, "Global Time Enabled": 1, "Host Performance": 0.0, "Humidity Temperature": 36.1058959960938, "Inter Cam Sync Mode": 0.0, "Invalidation Bypass": 0.0, "LDD temperature": 36.3938369750977, "Laser Power": 100, "Ma Temperature": 34.7539749145508, "Mc Temperature": 35.9714241027832, "Min Distance": 250, "Noise Estimation": 0.0, "Noise Filtering": 6, "Post Processing Sharpening": 1, "Pre Processing Sharpening": 0.0, "Receiver Gain": 9, "Sensor Mode": 0.0, "Visual Preset": 0.0 }, "schema version": 1, "viewer": { "stream-depth-format": "Z16", "stream-fps": "30", "stream-height": "480", "stream-ir-format": "Y8", "stream-width": "640" } } 感谢您的解答，我已经成功地将数据传入，但是在生成mesh的时候又出现了： Traceback (most recent call last): File "demo/run_mapping.py", line 26, in slam.run() File "/home/nvidia/H2-Mapping/mapping/src/H2Mapping.py", line 26, in run self.mapper.run(self.firstframe, update_pose=self.update_pose) File "/home/nvidia/H2-Mapping/mapping/src/mapping.py", line 252, in run mesh = self.extract_mesh(res=self.mesh_res, clean_mesh=False, map_states=self.map_states) AttributeError: 'Mapping' object has no attribute 'map_states' 这个问题 D Reply to this email directly, view it on GitHub<#8 (comment)https://github.com/SYSU-STAR/H2-Mapping/issues/8#issuecomment-1763618311>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTXNZWFOCPA7EBCOHDX7SJSDAVCNFSM6AAAAAA5WVNSROVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTONRTGYYTQMZRGE. You are receiving this because you commented.Message ID: @.***>

出现了mapping start

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chenghaozhangswu commented 9 months ago

好的，没有出现数字

JIANG-CX commented 9 months ago

嗯，那就说明没有接到合理的数据。

发件人: chenghaozhangswu @.> 发送时间: Monday, October 16, 2023 10:42:55 AM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

好的，没有出现数字

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chenghaozhangswu commented 9 months ago

作者在下面发过了

┢┦aΡｐy笶 @.***

------------------ 原始邮件 ------------------ 发件人: "SYSU-STAR/H2-Mapping" @.>; 发送时间: 2023年10月15日(星期天) 下午4:27 @.>; @.**@.>; 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

请问L515_config_tower_manual_expo_white_high_bright_2.json能提供给大家参考一下吗？谢谢主要不知道该设置哪些参数和格式

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lvmingzhe commented 9 months ago

我是将camera_pose改成cam_pose之后才接收到合理的数据，可以走完实际采集的流程。另外我想问一下原作，tower场景就两三个小房间，录制了15分钟，拍摄速度十分缓慢，这主要出于什么考虑？是担心L515相机运动模糊还是建图线程处理能力限制？谢谢

JIANG-CX commented 9 months ago

我是将camera_pose改成cam_pose之后才接收到合理的数据，可以走完实际采集的流程。另外我想问一下原作，tower场景就两三个小房间，录制了15分钟，拍摄速度十分缓慢，这主要出于什么考虑？是担心L515相机运动模糊还是建图线程处理能力限制？谢谢

感谢发现的一个我们清理代码时没检查出的bug😊，因为提供的bag中存在了一个当时实验时记录的camera_pose的topic，所以在dvins代码中为了避免冲突，将topic改成cam_pose了，现已更新，谢谢。针对你提到的问题，首先L515因为是卷帘快门，运动模糊确实比较严重，同时因为机载电脑上算力相对有限，因此实验时为了让最后建图效果更好，所以选择了较慢的移动。但后续我们将记录下来的中间结果可视化后也发现，其实一些地方很早就已经建好了，是可以走的快一些的hhh。在我们后续的工作中也会针对建图速度做更进一步的提升，谢谢你的关注和意见。

lvmingzhe commented 9 months ago

感谢您的神速回复！！我尝试使用了D455全局快门相机来采集数据，但可能是由于rgb/imu标定信息，或者launch文件里对应的json_file_path配置parameters参数没对，目前建图效果比较差。关于这些参数，您有什么建议吗？例如

"parameters": {
        "Alternate IR": 0.0,
        "Apd Temperature": -9999,
        "Confidence Threshold": 1,
        "Depth Offset": 4.5,
        "Depth Units": 0.000250000011874363,
        "Digital Gain": 1,
        "Enable IR Reflectivity": 0.0,
        "Enable Max Usable Range": 0.0,
        "Error Polling Enabled": 1,
        "Frames Queue Size": 16,
        "Freefall Detection Enabled": 1,
        "Global Time Enabled": 1,
        "Host Performance": 0.0,
        "Humidity Temperature": 36.1058959960938,
        "Inter Cam Sync Mode": 0.0,
        "Invalidation Bypass": 0.0,
        "LDD temperature": 36.3938369750977,
        "Laser Power": 100,
        "Ma Temperature": 34.7539749145508,
        "Mc Temperature": 35.9714241027832,
        "Min Distance": 250,
        "Noise Estimation": 0.0,
        "Noise Filtering": 6,
        "Post Processing Sharpening": 1,
        "Pre Processing Sharpening": 0.0,
        "Receiver Gain": 9,
        "Sensor Mode": 0.0,
        "Visual Preset": 0.0
    },

或者launch文件里的

<rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true

      /camera/rgb_camera/enable_auto_exposure: false
      /camera/rgb_camera/enable_auto_white_balance: false

      /camera/rgb_camera/exposure: 100
      /camera/rgb_camera/white_balance: 4500
      /camera/rgb_camera/gain: 4096    

      /camera/l500_depth_sensor/min_distance: 100
      /camera/l500_depth_sensor/noise_filtering: 6 

  </rosparam>

我不太清楚这里哪些参数相对重要一点，请给指导一下~谢谢！

JIANG-CX commented 9 months ago

感谢您的神速回复！！我尝试使用了D455全局快门相机来采集数据，但可能是由于rgb/imu标定信息，或者launch文件里对应的json_file_path配置parameters参数没对，目前建图效果比较差。关于这些参数，您有什么建议吗？例如

"parameters": {
        "Alternate IR": 0.0,
        "Apd Temperature": -9999,
        "Confidence Threshold": 1,
        "Depth Offset": 4.5,
        "Depth Units": 0.000250000011874363,
        "Digital Gain": 1,
        "Enable IR Reflectivity": 0.0,
        "Enable Max Usable Range": 0.0,
        "Error Polling Enabled": 1,
        "Frames Queue Size": 16,
        "Freefall Detection Enabled": 1,
        "Global Time Enabled": 1,
        "Host Performance": 0.0,
        "Humidity Temperature": 36.1058959960938,
        "Inter Cam Sync Mode": 0.0,
        "Invalidation Bypass": 0.0,
        "LDD temperature": 36.3938369750977,
        "Laser Power": 100,
        "Ma Temperature": 34.7539749145508,
        "Mc Temperature": 35.9714241027832,
        "Min Distance": 250,
        "Noise Estimation": 0.0,
        "Noise Filtering": 6,
        "Post Processing Sharpening": 1,
        "Pre Processing Sharpening": 0.0,
        "Receiver Gain": 9,
        "Sensor Mode": 0.0,
        "Visual Preset": 0.0
    },

或者launch文件里的

<rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true

      /camera/rgb_camera/enable_auto_exposure: false
      /camera/rgb_camera/enable_auto_white_balance: false

      /camera/rgb_camera/exposure: 100
      /camera/rgb_camera/white_balance: 4500
      /camera/rgb_camera/gain: 4096    

      /camera/l500_depth_sensor/min_distance: 100
      /camera/l500_depth_sensor/noise_filtering: 6 

  </rosparam>

我不太清楚这里哪些参数相对重要一点，请给指导一下~谢谢！

首先需要保证tracking部分的准确性，可以先单独跑tracking，看看跟踪精度如何，诸如imu bias，time delay等都需要根据你的传感器进行设置，相关设置可以参看网上有关vins-fusion的资料；其次对于455，请确保深度和rgb的对齐的；确保内参正确；对于参数的话，建议打开realsense_viewer来可视化调整，rgb层面比较重要的是“ /camera/rgb_camera/exposure: 100、 /camera/rgb_camera/white_balance: 4500、 /camera/rgb_camera/gain: 4096 ”，另外我没有使用过455，请参阅realsense文档，可能和515的配置会有不同，因为毕竟是两种深度传感器，谢谢。

lvmingzhe commented 9 months ago

感谢回复，我以后试验一下D455配置，并将可能的参数共享上来。 BTW: 在“use-your-own-rgb-d-sequence”参数配置过程中您提到了offset，bound，num_vertexes三个指标，例如tower场景：

offset: 10 # used to make make the coordinate of each point positive
bound: [ [ 0.0,20.0 ],[ 0.0,20.0 ],[ 0.0,10.0 ] ] # [x_min,x_max],[y_min,y_max],[z_min,z_max]
num_vertexes: 200000

我的问题是

bound的单位是米吗？
内存允许的情况下，num_vertexes是不是尽量大就完事了？对于tower这种场景，200000是上限吗？
为什么要设置offset来保证每个点的坐标值是正的？
xyz方向的定义是怎样的？
考虑两种情况：1）从起始点向东运动20米，再向南运动20米，再向上运动10米。2）从起始点向西运动20米，向北运动20米，向下运动10米。这两种情况如何设定bound和offset? 谢谢~

JIANG-CX commented 9 months ago

bound的单位是米吗？是
内存允许的情况下，num_vertexes是不是尽量大就完事了？对于tower这种场景，200000是上限吗？过大的num_vertexes会造成建立计算图时资源浪费，影响速度。200000并不是严格上界。
为什么要设置offset来保证每个点的坐标值是正的？因为内部构建八叉树时恒正便于操作
xyz方向的定义是怎样的？如果使用的是提供的tracking，就是和vins-fusion的世界系相同。世界坐标系原点就是tracking初始化后的点，右手系，front-left-up，z轴时按估计的重力向上
考虑两种情况：1）从起始点向东运动20米，再向南运动20米，再向上运动10米。2）从起始点向西运动20米，向北运动20米，向下运动10米。这两种情况如何设定bound和offset? 只和相对于初始化后定义的世界系的方位有关。如果你不确定，你可以把offset和bound点上界都设置的大一些防止出错。

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发件人: Mingzhe LV @.> 发送时间: Tuesday, October 17, 2023 10:09:47 AM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

感谢回复，我以后试验一下D455配置，并将可能的参数共享上来。 BTW: 在“use-your-own-rgb-d-sequence”参数配置过程中您提到了offset，bound，num_vertexes三个指标，例如tower场景：

offset: 10 # used to make make the coordinate of each point positive bound: [ [ 0.0,20.0 ],[ 0.0,20.0 ],[ 0.0,10.0 ] ] # [x_min,x_max],[y_min,y_max],[z_min,z_max] num_vertexes: 200000

我的问题是

bound的单位是米吗？
内存允许的情况下，num_vertexes是不是尽量大就完事了？对于tower这种场景，200000是上限吗？
为什么要设置offset来保证每个点的坐标值是正的？
xyz方向的定义是怎样的？
考虑两种情况：1）从起始点向东运动20米，再向南运动20米，再向上运动10米。2）从起始点向西运动20米，向北运动20米，向下运动10米。这两种情况如何设定bound和offset? 谢谢~

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chenghaozhangswu commented 9 months ago

感谢您的神速回复！！我尝试使用了D455全局快门相机来采集数据，但可能是由于rgb/imu标定信息，或者launch文件里对应的json_file_path配置parameters参数没对，目前建图效果比较差。关于这些参数，您有什么建议吗？例如

"parameters": {
        "Alternate IR": 0.0,
        "Apd Temperature": -9999,
        "Confidence Threshold": 1,
        "Depth Offset": 4.5,
        "Depth Units": 0.000250000011874363,
        "Digital Gain": 1,
        "Enable IR Reflectivity": 0.0,
        "Enable Max Usable Range": 0.0,
        "Error Polling Enabled": 1,
        "Frames Queue Size": 16,
        "Freefall Detection Enabled": 1,
        "Global Time Enabled": 1,
        "Host Performance": 0.0,
        "Humidity Temperature": 36.1058959960938,
        "Inter Cam Sync Mode": 0.0,
        "Invalidation Bypass": 0.0,
        "LDD temperature": 36.3938369750977,
        "Laser Power": 100,
        "Ma Temperature": 34.7539749145508,
        "Mc Temperature": 35.9714241027832,
        "Min Distance": 250,
        "Noise Estimation": 0.0,
        "Noise Filtering": 6,
        "Post Processing Sharpening": 1,
        "Pre Processing Sharpening": 0.0,
        "Receiver Gain": 9,
        "Sensor Mode": 0.0,
        "Visual Preset": 0.0
    },

或者launch文件里的

<rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true

      /camera/rgb_camera/enable_auto_exposure: false
      /camera/rgb_camera/enable_auto_white_balance: false

      /camera/rgb_camera/exposure: 100
      /camera/rgb_camera/white_balance: 4500
      /camera/rgb_camera/gain: 4096    

      /camera/l500_depth_sensor/min_distance: 100
      /camera/l500_depth_sensor/noise_filtering: 6 

  </rosparam>

我不太清楚这里哪些参数相对重要一点，请给指导一下~谢谢！

我的重建结果也比较模糊

lvmingzhe commented 9 months ago

能不能把你的重建结果贴上来一起分析一波？我猜测效果可能和以下配置有关：

位姿估计准确程度
光照条件与对应的rgb_camera/exposure, white_balance, gain配置参数
建图尺寸设置的范围
照片是否有运动模糊
拍摄场景面积与拍摄时长

chenghaozhangswu commented 9 months ago

能不能把你的重建结果贴上来一起分析一波？我猜测效果可能和以下配置有关：

位姿估计准确程度

光照条件与对应的rgb_camera/exposure, white_balance, gain配置参数

建图尺寸设置的范围

照片是否有运动模糊

拍摄场景面积与拍摄时长

chenghaozhangswu commented 9 months ago

能不能把你的重建结果贴上来一起分析一波？我猜测效果可能和以下配置有关：

位姿估计准确程度

光照条件与对应的rgb_camera/exposure, white_balance, gain配置参数

建图尺寸设置的范围

照片是否有运动模糊

拍摄场景面积与拍摄时长

你的重建结果如何？

lvmingzhe commented 9 months ago

chenghaozhangswu commented 9 months ago

跟我的差不多哦，精度不高，能调吗？

lvmingzhe commented 9 months ago

我是想着先尽量低速拍摄，得到尽量不模糊的图片，和准确的位姿，至于其他参数rgb_camera/exposure, white_balance, gain，还需要根据具体光照环境调节。如果有什么心得可以在这里交流。

chenghaozhangswu commented 9 months ago

请问我应该怎么修改，能够实时扫描并看到重建效果

JIANG-CX commented 9 months ago

因为实时marching cube可视化太慢了，暂时不支持实时查看，谢谢。

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请问我应该怎么修改，能够实时扫描并看到重建效果

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gaolingminhhh commented 8 months ago

请问您在设置offset为较大的数(例如30 )的时候出现过错误吗? File "/home/echo/H2-Mapping/mapping/src/functions/render_helpers.py", line 451, in bundle_adjust_frames assert (hits.sum() > 0) AssertionError

JIANG-CX commented 8 months ago

请问您在设置offset为较大的数(例如30 )的时候出现过错误吗? File "/home/echo/H2-Mapping/mapping/src/functions/render_helpers.py", line 451, in bundle_adjust_frames assert (hits.sum() > 0) AssertionError

请问是跑replica/room0出错了吗

gaolingminhhh commented 8 months ago

请问您在设置offset为较大的数(例如30 )的时候出现过错误吗? File "/home/echo/H2-Mapping/mapping/src/functions/render_helpers.py", line 451, in bundle_adjust_frames assert (hits.sum() > 0) AssertionError

请问是跑replica/room0出错了吗感谢神速度! 我是在跑自己录制的ros包的时候出现错误的. 想在稍微大一些的场景中运行,不知道该如何设置. 这个是我的H2Mapping运行结果和点云结果

gaolingminhhh commented 8 months ago

我好像知道了,是设置max_depth的值吗?

JIANG-CX commented 8 months ago

请问您在设置offset为较大的数(例如30 )的时候出现过错误吗? File "/home/echo/H2-Mapping/mapping/src/functions/render_helpers.py", line 451, in bundle_adjust_frames assert (hits.sum() > 0) AssertionError

请问是跑replica/room0出错了吗感谢神速度! 我是在跑自己录制的ros包的时候出现错误的. 想在稍微大一些的场景中运行,不知道该如何设置. 这个是我的H2Mapping运行结果和点云结果

offset的作用是让点云的坐标都是正的，首先需要确认一下30是否足够。其次，看报错是因为没有ray接触到已有的voxel。可以看一下是不是当前帧的点云都大于max_depth了。

small-zeng commented 8 months ago

你好，请问真实采集数据时，采用的是L515自带IMU还是飞控的IMU呢，这个标定过程有参考手册吗

JIANG-CX commented 8 months ago

你好，请问真实采集数据时，采用的是L515自带IMU还是飞控的IMU呢，这个标定过程有参考手册吗

视频中的手持设备实验（也就是提供的bag）是使用的L515自带的IMU，飞机实验使用的是飞控IMU，标定可以使用kalibr：https://github.com/ethz-asl/kalibr

small-zeng commented 8 months ago

我用L515采集数据，发现这个不支持640 480 分辨率，您有遇到这个情况麻？我看你的参数是这个分辨率 roslaunch realsense2_camera rs_aligned_depth_lidar.launch ... logging to /home/nuc/.ros/log/0fa707be-8464-11ee-ad72-e0e1a99f291f/roslaunch-nuc-NUC12WSKi7-12274.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

WARN: unrecognized 'param' tag in tag started roslaunch server http://nuc-NUC12WSKi7:39045/

SUMMARY

PARAMETERS

/camera/realsense2_camera/accel_fps: 400
/camera/realsense2_camera/accel_frame_id: camera_accel_frame
/camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
/camera/realsense2_camera/align_depth: True
/camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
/camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
/camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
/camera/realsense2_camera/allow_no_texture_points: False
/camera/realsense2_camera/base_frame_id: camera_link
/camera/realsense2_camera/calib_odom_file:
/camera/realsense2_camera/clip_distance: -1.0
/camera/realsense2_camera/color_fps: 30
/camera/realsense2_camera/color_frame_id: camera_color_frame
/camera/realsense2_camera/color_height: 480
/camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
/camera/realsense2_camera/color_width: 640
/camera/realsense2_camera/confidence_fps: 30
/camera/realsense2_camera/confidence_height: 480
/camera/realsense2_camera/confidence_width: 640
/camera/realsense2_camera/depth_fps: 30
/camera/realsense2_camera/depth_frame_id: camera_depth_frame
/camera/realsense2_camera/depth_height: 480
/camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
/camera/realsense2_camera/depth_width: 640
/camera/realsense2_camera/device_type:
/camera/realsense2_camera/enable_accel: True
/camera/realsense2_camera/enable_color: True
/camera/realsense2_camera/enable_confidence: True
/camera/realsense2_camera/enable_depth: True
/camera/realsense2_camera/enable_fisheye1: False
/camera/realsense2_camera/enable_fisheye2: False
/camera/realsense2_camera/enable_fisheye: True
/camera/realsense2_camera/enable_gyro: True
/camera/realsense2_camera/enable_infra1: False
/camera/realsense2_camera/enable_infra2: False
/camera/realsense2_camera/enable_infra: False
/camera/realsense2_camera/enable_pointcloud: False
/camera/realsense2_camera/enable_pose: False
/camera/realsense2_camera/enable_sync: True
/camera/realsense2_camera/filters:
/camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
/camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
/camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
/camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
/camera/realsense2_camera/fisheye_fps: 30
/camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
/camera/realsense2_camera/fisheye_height: 480
/camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
/camera/realsense2_camera/fisheye_width: 640
/camera/realsense2_camera/gyro_fps: 400
/camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
/camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
/camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
/camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
/camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
/camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
/camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
/camera/realsense2_camera/infra_fps: 30
/camera/realsense2_camera/infra_height: 480
/camera/realsense2_camera/infra_rgb: False
/camera/realsense2_camera/infra_width: 640
/camera/realsense2_camera/initial_reset: False
/camera/realsense2_camera/json_file_path: /home/nuc/zengjin...
/camera/realsense2_camera/linear_accel_cov: 0.01
/camera/realsense2_camera/odom_frame_id: camera_odom_frame
/camera/realsense2_camera/ordered_pc: False
/camera/realsense2_camera/pointcloud_texture_index: 0
/camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
/camera/realsense2_camera/pose_frame_id: camera_pose_frame
/camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
/camera/realsense2_camera/publish_odom_tf: True
/camera/realsense2_camera/publish_tf: True
/camera/realsense2_camera/reconnect_timeout: 6.0
/camera/realsense2_camera/rosbag_filename:
/camera/realsense2_camera/serial_no:
/camera/realsense2_camera/stereo_module/exposure/1: 7500
/camera/realsense2_camera/stereo_module/exposure/2: 1
/camera/realsense2_camera/stereo_module/gain/1: 16
/camera/realsense2_camera/stereo_module/gain/2: 16
/camera/realsense2_camera/tf_publish_rate: 0.0
/camera/realsense2_camera/topic_odom_in: camera/odom_in
/camera/realsense2_camera/unite_imu_method: linear_interpolation
/camera/realsense2_camera/usb_port_id:
/camera/realsense2_camera/wait_for_device_timeout: -1.0
/rosdistro: melodic
/rosversion: 1.14.13

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [12288] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0fa707be-8464-11ee-ad72-e0e1a99f291f process[rosout-1]: started with pid [12299] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [12306] process[camera/realsense2_camera-3]: started with pid [12307] [ INFO] [1700127579.429225089]: Initializing nodelet with 16 worker threads. [ INFO] [1700127579.502838398]: RealSense ROS v2.3.2 [ INFO] [1700127579.502864613]: Built with LibRealSense v2.50.0 [ INFO] [1700127579.502872028]: Running with LibRealSense v2.50.0 [ INFO] [1700127579.521869695]:
16/11 17:39:39,877 WARNING [140637927667456] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1700127580.052675988]: Device with serial number f1231548 was found.

[ INFO] [1700127580.052727489]: Device with physical ID 4-2-2 was found. [ INFO] [1700127580.052738980]: Device with name Intel RealSense L515 was found. [ INFO] [1700127580.053221953]: Device with port number 4-2 was found. [ INFO] [1700127580.053245072]: Device USB type: 3.2

16/11 17:39:40,164 WARNING [140637927667456] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0 [ INFO] [1700127580.247091541]: JSON file is loaded! (/home/nuc/zengjing/H2-Mapping/src/realsense-ros/realsense2_camera/config/L515_config_ri.json) [ INFO] [1700127580.247219750]: ROS Node Namespace: camera [ INFO] [1700127580.247259489]: Device Name: Intel RealSense L515 [ INFO] [1700127580.247284971]: Device Serial No: f1231548 [ INFO] [1700127580.247314456]: Device physical port: 4-2-2 [ INFO] [1700127580.247361584]: Device FW version: 01.05.04.01 [ INFO] [1700127580.247392233]: Device Product ID: 0x0B64 [ INFO] [1700127580.247421277]: Enable PointCloud: Off [ INFO] [1700127580.247443274]: Align Depth: On [ INFO] [1700127580.247475288]: Sync Mode: On [ INFO] [1700127580.247576935]: Device Sensors: [ INFO] [1700127580.313725235]: L500 Depth Sensor was found. [ INFO] [1700127580.326932079]: RGB Camera was found. [ INFO] [1700127580.327205044]: Motion Module was found. [ INFO] [1700127580.327275935]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1700127580.327900607]: num_filters: 1 [ INFO] [1700127580.327929384]: Setting Dynamic reconfig parameters. [ INFO] [1700127581.542798432]: Done Setting Dynamic reconfig parameters. [ INFO] [1700127581.543512357]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ WARN] [1700127581.543679290]: Given stream configuration is not supported by the device! Stream: Color, Stream Index: 0, Width: 640, Height: 480, FPS: 30, Format: None [ WARN] [1700127581.543736784]: Using default profile instead. [ INFO] [1700127581.545707096]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8 [ INFO] [1700127581.545997981]: confidence stream is enabled - width: 640, height: 480, fps: 30, Format: RAW8 [ INFO] [1700127581.548054474]: gyro stream is enabled - fps: 400 [ INFO] [1700127581.548081743]: accel stream is enabled - fps: 400

[ INFO] [1700127581.550588003]: Expected frequency for depth = 30.00000 [ INFO] [1700127581.568369720]: Expected frequency for color = 30.00000 [ INFO] [1700127581.580516485]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1700127581.592685761]: Expected frequency for confidence = 30.00000 [ INFO] [1700127581.599921865]: Start publisher IMU

small-zeng commented 8 months ago

我使用的你的Launch config配置，不知道问题出在哪里，是515不支持这个分辨率？

JIANG-CX commented 8 months ago

我用的就是640*480，提供的bag里的图也就是这个分辨率

发件人: Jing Zeng @.> 发送时间: Thursday, November 16, 2023 5:55:52 PM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Comment @.> 主题: Re: [SYSU-STAR/H2-Mapping] 怎么实时重建？ (Issue #8)

我使用的你的Launch config配置，不知道问题出在哪里，是515不支持这个分辨率？

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SYSU-STAR / H2-Mapping

怎么实时重建？ #8

SUMMARY