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ZhiangChen / gps_vio

Odometry Fusion of PX4 GPS and Realsense T265 VIO
Apache License 2.0
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camera external calibration #1

Closed ZhiangChen closed 3 years ago

ZhiangChen commented 3 years ago

The tf between the tracking camera and px4 controller is lacking. Also, their frame_ids are different. Todo:

  1. transform every VIO odometry to the initial px4 coordinate system before fusing it to the graph
  2. change the "frame_id" value to "map"
ZhiangChen commented 3 years ago

It's better to add a static tf publisher for the external camera calibration. 1). the vio from tracking camera can be visualized in rviz. 2). odom from gps_vio can have consistent frame_id. 3). I don't need to change code in specific graph realization.

To do that, another ros node is needed for external calibration.

ZhiangChen commented 3 years ago

when t265 is initialized from realsense-ros, yaw is 0, row and pitch are non-zero. the initial coordinate system (camera_odom_frame) is initialized with z towards straight-up, and the yaw of the current camera pose is 0. A similar problem has been discussed here: https://github.com/IntelRealSense/librealsense/issues/5960

ZhiangChen commented 3 years ago

https://github.com/ZhiangChen/gps_vio/wiki