search

introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
Other
2.8k stars 787 forks source link

OdometryVINS.cpp:353::computeTransform() Waiting an image for initialization... #473

Open xiaoqiuslam opened 4 years ago

xiaoqiuslam commented 4 years ago

i use vinsfusion and realsenseD435i make Binocular Stereo .db file , in the commod i run rtabmap/bin$ ./rtabmap to load the db file , in the Preferences i set stereo and imufilter but i relocation is false put tihs error please hellp me !

have VINS-Fusion-Stereo.db /rtabmap/bin$ ./rtabmap [ WARN] (2019-11-14 17:42:44.963) OdometryVINS.cpp:353::computeTransform() Waiting an image for initialization...

matlabbe commented 4 years ago

So you are trying to start a new session from a previous database, the warning tells that no images have been received yet. CAn you set logger in debug mode to have more info? (Preferences->Logger)

xiaoqiuslam commented 4 years ago

Hello, I want to use vins-fusion to do Stereo relocation. The camera I use is realsenseD435i. My data file is collected with test_d435ivio.launch startup file, then run /rtabmap/bin$ ./rtabmap But always prompted this warning: [ WARN] (2019-11-14 17:42:44.963) OdometryVINS.cpp:353::computeTransform() Waiting an image for initialization... The output of the logger I have set is Debug and then outputs the following information: [ WARN] (2019-11-18 11:28:12.823) OdometryVINS.cpp:353::computeTransform() Waiting an image for initialization... [DEBUG] (2019-11-18 11:28:12.823) OdometryThread.cpp:120::mainLoop() Odom pose = xyz=[null] rpy=[null] [DEBUG] (2019-11-18 11:28:12.823) RtabmapThread.cpp:361::handleEvent() OdometryEvent [DEBUG] (2019-11-18 11:28:12.824) MainWindow.cpp:967::processOdometry() [DEBUG] (2019-11-18 11:28:12.824) MainWindow.cpp:991::processOdometry() odom lost [DEBUG] (2019-11-18 11:28:12.824) ImageView.cpp:899::setFeatures() depth=640x480 sceneRect=640.000000x480.000000 [DEBUG] (2019-11-18 11:28:12.824) ImageView.cpp:902::setFeatures() xRatio=1.000000 yRatio=1.000000 [DEBUG] (2019-11-18 11:28:12.827) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692827.407959 (-0.000006 -0.001739 0.005254) [DEBUG] (2019-11-18 11:28:12.832) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692832.409912 (-0.003496 0.000006 0.000018) [DEBUG] (2019-11-18 11:28:12.835) CameraRealSense2.cpp:261::frame_callback() Frame callback! 1574047692835.780762 [DEBUG] (2019-11-18 11:28:12.837) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692837.666504 (-0.000006 0.008733 0.001764) [DEBUG] (2019-11-18 11:28:12.838) CameraRealSense2.cpp:210::imu_callback() ACC callback! 1574047692838.371582 (-0.200062 -9.836268 0.622711) [DEBUG] (2019-11-18 11:28:12.842) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692842.657227 (-0.000006 0.001752 0.005254) [DEBUG] (2019-11-18 11:28:12.843) CameraRealSense2.cpp:261::frame_callback() Frame callback! 1574047692842.898682 [DEBUG] (2019-11-18 11:28:12.843) CameraRealSense2.cpp:909::captureImage() Frameset arrived. [DEBUG] (2019-11-18 11:28:12.847) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692847.629883 (-0.000006 -0.005230 0.000018) [DEBUG] (2019-11-18 11:28:12.852) CameraRealSense2.cpp:210::imu_callback() GYRO callback! 1574047692852.655518 (-0.001751 -0.008720 0.003509) [DEBUG] (2019-11-18 11:28:12.854) CameraRealSense2.cpp:210::imu_callback() ACC callback! 1574047692854.396973 (-0.240139 -9.754127 0.631015) [DEBUG] (2019-11-18 11:28:12.855) Camera.cpp:106::takeImage() Time capturing image = 0.032192s [DEBUG] (2019-11-18 11:28:12.855) CameraThread.cpp:434::postUpdate() -0.544851 0.416367 -0.429281 0.587786 (gyro=-0.000006 0.001413 0.005000, acc=-0.211384 -9.813064 0.625057, 1574047692.843048s) [DEBUG] (2019-11-18 11:28:12.855) CameraThread.cpp:142::mainLoop() [DEBUG] (2019-11-18 11:28:12.855) OdometryThread.cpp:116::mainLoop() Processing data... Can I use vins-fusion to do Stereo's relocation? Is there a related document? I can refer to it.

matlabbe commented 4 years ago

If you start from a fresh database, does it work? Here is my RGB-D Source parameters with realsense2 in stereo IR mode (and using all default parameters unless VINS as Odometry approach and its config file): Screenshot from 2019-11-18 18-32-54 Note the "Publish inter IMU..." checkbox, which is required for VINS.

Screenshot from 2019-11-18 18-31-53

You should be able to relocalize independently of the odometry approach. It is however recommended to use a similar camera than the one using to create the map. Did you record a stereo database with the launch file or a RGB-D one?

matlabbe commented 4 years ago

Sorry for the delay, I got quite busy last week. VINS won't work with RGB-D data. Update rtabmap to get access to D435 in stereo IR mode option and to enable inter imu publishing:

realsense_stereo

xiaoqiuslam commented 4 years ago

I do it but not work ! thank for you hellp!