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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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3-cam Multi-camera Setup #285

Closed JimmyArwenHarry closed 1 year ago

JimmyArwenHarry commented 1 year ago

Hello,

For 3-cam-1-imu scenario, I set my launch file according to a closed issue #130. This kind of parameter setting seems to fit version "release v1.0" so I checkout to that branch. Two problems appear:

  1. How should I set the parameter "max_cameras"? If I set it to 3 or 4, errors occured just like "[ERROR] [1667458794.988656197]: INVALID MAX CAMERAS SELECTED!!!".

  2. If I set "max_cameras" to 2, the /ov_msckf node only subscirbes cam0 and cam1, while cam2 is not subscribed.

Below is my launch file settings. It would be more than better if you can provide a compact template launch file for multi-camera-single-imu example. Thanks so much.

Sincerely, Harry

[0.0,0.0,9.81] [752, 480] [752, 480] [752, 480] [458.654,457.296,367.215,248.375] [-0.28340811,0.07395907,0.00019359,1.76187114e-05] [457.587,456.134,379.999,255.238] [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05] [458.654,457.296,367.215,248.375] [-0.28340811,0.07395907,0.00019359,1.76187114e-05] [ 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0 ] [ 0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0.0, 0.0, 0.0, 1.0 ] [ 0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0 ]
goldbattle commented 1 year ago

You will need to create a custom subscriber for 3 cameras as right now we just have support for single and two synchronized cameras. Additionally, you should use the latest branch, as we don't really support our older version. https://github.com/rpng/open_vins/blob/98873b75be45cee6563bf407e00013bbec01c455/ov_msckf/src/ros/ROS1Visualizer.cpp#L159-L190