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TouchDeeper / VIW-Fusion

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light
GNU General Public License v3.0
436 stars 108 forks source link

Ubuntu20.04 ros noetic support #3

Closed gongyue666 closed 2 years ago

gongyue666 commented 2 years ago

Hi I build it under ubuntu 20.04, get many errors, any update?

gongyue666 commented 2 years ago

version of fmt and Sophus, the master branch of these github have been updated. What's the version should use?

TouchDeeper commented 2 years ago

Hi, you can paste the errors here. I have not tested on ubuntu20.04. You can try on 18.04. If I am available, I will try to compile it on ubuntu20.04. For Sophus, I think you can use the latest code.

gongyue666 commented 2 years ago

I finally sloved all the problem, using fmt 7.X and latest Sophus. With opencv 4.0 there should change some lines to adopt. Ceres version is 1.7.x, which 2.0 is not ok.

gongyue666 commented 2 years ago

I run it with my own robot also D435i，but result is not very good as your bag. any advice?

TouchDeeper commented 2 years ago

I finally sloved all the problem, using fmt 7.X and latest Sophus. With opencv 4.0 there should change some lines to adopt. Ceres version is 1.7.x, which 2.0 is not ok.

Nice， you can create a pull request

TouchDeeper commented 2 years ago

I run it with my own robot also D435i，but result is not very good as your bag. any advice?

I think you need to check something：

  1. Calibrate your D435i device.
  2. Modify the config file according to the calibration result. The default imu in my example config is the one equipped in ridgeback. The imu in D435i also works, but you need to modify the extrinsic between camera and imu in the config file.