Closed ArthurLovekinGecko closed 1 year ago
I get the following errors about cam1 calibration:
You should run the following since those datasets are monocular camera only (one camera).
ros2 launch ov_msckf subscribe.launch.py config:=rs_d455 max_cameras:=1
ros2 launch ov_msckf subscribe.launch.py config:=rpng_plane max_cameras:=1
For a monocular camera, it is unable to run unless there is movement, thus to initialize the platform needs to be stationary and then moving. We detect this based on both IMU threshold and disparity (see the config file comments).
The colors are the depth of features, you can inspect the code here: https://github.com/rpng/open_vins/blob/58afb2daf47498911100edc7452ccd7e42a2db50/ov_msckf/src/ros/ROS2Visualizer.cpp#L928-L943
The system is built around using an IMU sensor at its core. Thus support for IMU-free isn't something we will ever support. I recommend checking out the ORB-SLAM family if you want monocular visual odometry (VO).
We support static matching, checkout the tum_vi config file, but to support dynamic initialization you would need to either call a network to get that segmentation, or change the ROS subscriptions to subscribe to a topic which has that masking. The key place to change would be here: https://github.com/rpng/open_vins/blob/58afb2daf47498911100edc7452ccd7e42a2db50/ov_msckf/src/ros/ROS2Visualizer.cpp#L536-L545
You can imaging either having the mask as another sync'ed input here, or just directly calling a network and getting a mask. Hope this helps, good luck!
I have a short question. I am running d455 using Open vins in ros1 noetic and after this output shown below I don't see any tracking at all. I am not quite sure where I went wrong. I disabled stereo mode everywhere and changed to mono with 1 camera. I am trying to run the estimation live with my d455 camera . Could someone help me out here?
HI. @Aishkrish18 I recommend opening a new issue if you were unable to solve it. I recommend inspecting the published topics and enabling higher verbosity to see if the system is properly getting data. Likely, the published topics are not correct with your sensor launch file.
Error using Monocular Visual Odometry: When I attempt to run Monocular config files (eg. using either of the commands below), I immediately get the [ERROR] [run_subscribe_msckf-1]: process has died. How can I fix this in order to run monocular Visual Odometry?
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