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lukasvst / dm-vio-ros

ROS wrapper for DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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Issue with T265 resoloution #23

Open cmakelabs opened 3 days ago

cmakelabs commented 3 days ago

I am trying to run the node with the default parameters specified in for EuRoC bag being:

While these parameters works fine with dm-vio, when I run with dm-vio-ros I get the following issue, which is related to the fact that the topic /camera/fisheye1/image_raw is running at resolution 840x800, however even if I change the resolution in the configs/camera.txt file, to 840x800 the error still exists, I am not aware if I can lower the resolution of the RealSense T265, moreover I am not sure in what format shall I fill camera.txtif I already have the calibration data from Kalibr.

Used T_cam_imu: 
  -0.999525   0.0296153 -0.00852233   0.0472799
 0.00750192  -0.0343974    -0.99938  -0.0474432
 -0.0298901   -0.998969   0.0341589     -0.0682
          0           0           0           1
Used noise values: 0.043 0.0011 0.224 0.0128
Image topic: /camera/fisheye1/image_raw
IMU topic: /camera/imu
START PANGOLIN!
Switching to initializer state: RealtimeCoarseIMUInitState
PixelSelector: Using block sizes: 16, 16
Undistort::undistort: wrong image size (848 800 instead of 848 800)

I would really appreciate your comment on this regard