jiajiaandWu
commented
1 month ago [ WARN] [1715158845.143366585]: waiting for image and imu... vocabulary_file/home/wuyajia/CNN_VINS/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin loop start load vocabulary BRIEF_PATTERN_FILE/home/wuyajia/CNN_VINS/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml no previous pose graph [ INFO] [1715158853.385431705]: Not enough features or parallax; Move device around [ INFO] [1715158853.484626504]: Not enough features or parallax; Move device around [ INFO] [1715158853.639760011]: Not enough features or parallax; Move device around [ INFO] [1715158853.740040077]: Not enough features or parallax; Move device around [ INFO] [1715158853.840214547]: Not enough features or parallax; Move device around [ INFO] [1715158853.989928635]: Not enough features or parallax; Move device around [ INFO] [1715158854.138721174]: Not enough features or parallax; Move device around [ INFO] [1715158854.237583627]: IMU excitation not enouth! [ INFO] [1715158854.254700376]: Not enough features or parallax; Move device around [ INFO] [1715158854.340040036]: IMU excitation not enouth! [ INFO] [1715158854.366438690]: Not enough features or parallax; Move device around [ INFO] [1715158854.488357322]: IMU excitation not enouth! [ INFO] [1715158854.498028332]: Not enough features or parallax; Move device around [ INFO] [1715158854.588549213]: IMU excitation not enouth! [ INFO] [1715158854.601199121]: Not enough features or parallax; Move device around [ INFO] [1715158854.739948059]: IMU excitation not enouth! [ INFO] [1715158854.753850295]: Not enough features or parallax; Move device around [ INFO] [1715158854.888969812]: IMU excitation not enouth! [ INFO] [1715158854.897841288]: Not enough features or parallax; Move device around [ INFO] [1715158855.040885546]: IMU excitation not enouth! [ INFO] [1715158855.052313063]: Not enough features or parallax; Move device around [ INFO] [1715158855.189700435]: IMU excitation not enouth! [ INFO] [1715158855.200757014]: Not enough features or parallax; Move device around [ INFO] [1715158855.338939289]: IMU excitation not enouth! [ INFO] [1715158855.348852815]: Not enough features or parallax; Move device around [ INFO] [1715158855.475484584]: IMU excitation not enouth! [ INFO] [1715158855.482054430]: Not enough features or parallax; Move device around [ INFO] [1715158855.646146513]: Not enough features or parallax; Move device around [ INFO] [1715158855.760926330]: Not enough features or parallax; Move device around [ WARN] [1715158855.874610003]: gyroscope bias initial calibration 0.000920944 -0.00207454 -0.00512091 [ INFO] [1715158855.876255304]: misalign visual structure with IMU [ INFO] [1715158855.995097398]: Not enough features or parallax; Move device around [ INFO] [1715158856.091131465]: Not enough features or parallax; Move device around [ INFO] [1715158856.187041588]: IMU excitation not enouth! [ INFO] [1715158856.194013562]: Not enough features or parallax; Move device around [ INFO] [1715158856.337814175]: IMU excitation not enouth! [ INFO] [1715158856.344865637]: Not enough features or parallax; Move device around
Hi，your dataset is useful!Thanks!But when I run Vins momo with lab-dynamic,It shows the IMU excitation not enouth!So can not initial.This is my yaml file,can you know the reasons? %YAML:1.0
common parameters
imu_topic: "/imu" image_topic: "/cam0/color" output_path: "/home/wuyajia/cnn_vins_results/VCU_RVI"
camera calibration
model_type: PINHOLE camera_name: camera image_width: 640 image_height: 480 distortion_parameters: k1: 0 k2: 0 p1: 0 p2: 0 projection_parameters: fx: 4.59357e+02 fy: 4.59764e+02
cx: 3.32695e+02 cy: 2.58998e+02
Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
If you choose 0 or 1, you should write down the following matrix.
Rotation from camera frame to imu frame, imu^R_cam
extrinsicRotation: !!opencv-matrix rows: 3 cols: 3 dt: d data: [0.00193013, -0.999997, 0.00115338, -0.999996, -0.0019327, -0.00223606, 0.00223829, -0.00114906, -0.999997]
Translation from camera frame to imu frame, imu^T_cam
extrinsicTranslation: !!opencv-matrix rows: 3 cols: 1 dt: d data: [-0.00817048,0.015075, -0.0110795]
feature traker paprameters
max_cnt: 150 # max feature number in feature tracking min_dist: 30 # min distance between two features freq: 0 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image F_threshold: 2.0 # ransac threshold (pixel) show_track: 1 # publish tracking image as topic equalize: 1 # if image is too dark or light, trun on equalize to find enough features fisheye: 0 # if using fisheye, trun on it. A circle mask will be loaded to remove edge noisy points
optimization parameters
max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time max_num_iterations: 8 # max solver itrations, to guarantee real time keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.05 # 0.119 #0.1 #0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 gyr_n: 0.01 #0.0208 # 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 acc_w: 0.001 # 0.000535 #0.001 # accelerometer bias random work noise standard deviation. #0.02 gyr_w: 0.0001 # 0.000089 # 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 g_norm: 9.81 # gravity magnitude
loop closure parameters
loop_closure: 1 # start loop closure load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' fast_relocalization: 0 # useful in real-time and large project pose_graph_save_path: "/home/wuyajia/cnn_vins_results/VCU_RVI/pose_graph/" # save and load path
unsynchronization parameters
estimate_td: 0 # online estimate time offset between camera and imu td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
rolling shutter parameters
rolling_shutter: 0 # 0: global shutter camera, 1: rolling shutter camera rolling_shutter_tr: 0.033 # unit: s. rolling shutter read out time per frame (from data sheet).
visualization parameters
save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 visualize_imu_forward: 0 # output imu forward propogation to achieve low latency and high frequence results visualize_camera_size: 0.4 # size of camera marker in RVIZ ![Uploading Screenshot from 2024-05-08 19-56-55.png…]()