Closed bobododosjl closed 1 year ago
how to solve this issue
I can't see any useful message. Maybe you should check your configuration file. Also, you need change the output path in the configuration file.
how to solve this issue
I can't see any useful message. Maybe you should check your configuration file. Also, you need change the output path in the configuration file.
I launch the launch file.However, I meet the problem:Failed to open configuration file.how to solve the problem?
how to solve this issue
I can't see any useful message. Maybe you should check your configuration file. Also, you need change the output path in the configuration file.
I launch the launch file.However, I meet the problem:Failed to open configuration file.how to solve the problem?
Please show your ic_gvins.yaml.
outputpath: "outputpath: "/home/bobododo/GNC/SLAM/gvins_ws/src/IC-GVINS-main/output/" is_make_outputdir: true
initlength: 1
imudatarate: 100
iswithearth: true
antlever: [-0.37, 0.008, 0.353]
imumodel: arw: 0.1 # deg/sqrt(hr) vrw: 0.1 # m/s/sqrt(hr) gbstd: 50.0 # deg/hr abstd: 50.0 # mGal corrtime: 1.0 # hr
isusegnssoutage: false gnssoutagetime: 364461.5
gnssthreshold: 5
is_use_visualization: true
track_check_histogram: false # 直方图检查, 避免出现光照变化较大的图像 (Check histogram for drastic illumulation change) track_min_parallax: 15 # 关键帧最小像素视差 (The minmum parallax in pixels to choose a keyframe) track_max_interval: 0.5 # 最大的关键帧间隔, 超过则插入观测帧, s (The maximum lenght to choose a observation frame) track_max_features: 200 # 最大提取特征数量 (The maximum features to detect, may be more or less, see tracking.cc)
reprojection_error_std: 1.5 # 像素重投影误差 (The reprojection error std for optimizition and outlier culling) optimize_windows_size: 10 # 滑动窗口大小 (The size of the sliding window, number of the keyframes ) optimize_num_iterations: 20 # 优化迭代次数 (The iterations in total) optimize_estimate_extrinsic: true # 是否估计相机和IMU的外参 (Estimate the extrinsic) optimize_estimate_td: true # 否估计相机和IMU之间的时间间隔 (Estimate the time delay)
cam0:
# Intrinsic parameters, pinhole model
intrinsic:
[
8.1640221474060002e+02,
8.1738388562809996e+02,
6.0882658427579997e+02,
2.6668865652440002e+02,
-2.3882017757999998e+00,
]
# 畸变参数 [k1, k2, p1, p2(, k3)]
# Distortion parameters
distortion:
[
-5.0040485799999999e-02,
1.2001217170000000e-01,
-6.2598060000000004e-04,
-1.1825064000000000e-03,
-6.3505207999999994e-02,
]
# 图像分辨率
# Resolution
resolution: [1280, 560]
# 相机IMU外参 (Camera-IMU extrinsic)
# Pb = q_b_c * Pc + t_b_c
# q (x, y, z, w)
q_b_c: [0.49452151768306785, 0.4977818081111032, 0.5055845943507494, 0.5020417891144757]
t_b_c: [1.71239, -0.247401, 0.11589]
# IMU和相机时间延时 (The time delay between the IMU and camera)
# t_i = t_c + td
td_b_c: 0.0
how to solve this issue
I can't see any useful message. Maybe you should check your configuration file. Also, you need change the output path in the configuration file.
I launch the launch file.However, I meet the problem:Failed to open configuration file.how to solve the problem?
Please show your ic_gvins.yaml.
i find the fault
It seems that the first configuration is wrong.
outputpath: "outputpath: "/home/bobododo/GNC/SLAM/gvins_ws/src/IC-GVINS-main/output/"
Maybe the correct configuration is:
outputpath: "/home/bobododo/GNC/SLAM/gvins_ws/src/IC-GVINS-main/output/"
how to solve this issue
I can't see any useful message. Maybe you should check your configuration file. Also, you need change the output path in the configuration file.
I launch the launch file.However, I meet the problem:Failed to open configuration file.how to solve the problem?
Please show your ic_gvins.yaml.
i find the fault
Good! This issue will be closed.
how to solve this issue