Open UditSinghParihar opened 1 year ago
Hi @matlabbe , In this video you can see that the map frame has x-axis pointing leftwards from the camera face (or the direction of motion). And this keeps on changing in different RTABMAP run in mapping mode using realsense with IMU. Though this change of orientation of the map frame doesn't happen when we run using RGBD mode without IMU. Can you explain the reason for this behavior and how to consistently get the same direction of the map frame with the x-axis forward, when fusing RGBD and imu data?
VO would initialize with original IMU orientation and TF between imu and camera topics. Just tried on my side and indeed there is a 90 deg yaw. It seems coming from tf between camera and imu frame:
rosrun tf tf_echo camera_link camera_imu_optical_frame
At time 0.000
- Translation: [-0.012, -0.006, 0.005]
- Rotation: in Quaternion [-0.500, 0.500, -0.500, 0.500]
in RPY (radian) [-1.571, -0.000, -1.571]
in RPY (degree) [-90.000, -0.000, -90.000]
Hello @matlabbe , Thanks for your excellent work. I have a question regarding the direction of the x-axis for the map frame.
Setup
Currently, I am using Realsense D435i with an imu sensor inbuilt, and using the following commands for localization mode:
And have a node to subscribe to transform between
\map
and\camera_link
frame, which would be used for a tracking a global route by our planning and control module:RTABMAP, RTABMAP_ROS, GTSAM are build from source whereas realsense apt installation is being done. We are using Ubuntu 20.04, ROS Noetic.
Question
For two independent runs of these commands, I am observing that:
I believe that the map frame's direction of x should always be forward as observed in the first case, then why sometimes in other runs, I am getting the map frame's direction of x as leftward? Is there some way to get the map frame's direction of x forward always (or along the camera facing the direction of realsense)?