lenardxu
commented
2 years ago I tried stereo setup without IMU information by doing the followings:
- Build a new launch file based on the launch file "euroc_stereo_frontend_imu.launch", with launching commands related with IMU commented/removed, launching commands related with images subscibing corrected, and path to calibration file altered to the new one which corresponds to my camera
- With regard to the newly built calibration file, it is based on the yaml file "euroc_stereo.yaml", where the intrinsics, distortion model and transformation matrices are all adapted to my case. To be noted, the transformation matrices for left and right camera are altered to the following:
# For left camera T_B_C: cols: 4 rows: 4 data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0] # For right camera T_B_C: cols: 4 rows: 4 data: [9.99723732e-01, -2.27311049e-02, 5.97663550e-03, -7.44190693e+00, 2.26935912e-02, 9.99722779e-01, 6.27128733e-03, -1.43949956e-01, -6.11753203e-03, -6.13392377e-03, 9.99962449e-01, 7.51577914e-02, 0.0, 0.0, 0.0, 1.0]As you can infer, the origin of body frame (IMU frame) is set to be coincided with the optical center of left camera so that the transformation matrix between left and right camera is registered in place of right camera.
With that done, when I first try run the new launch file, the following error takes place:
SUMMARY
========
CLEAR PARAMETERS
* /svo/
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.14
* /svo/T_world_imuinit/qw: 1
* /svo/T_world_imuinit/qx: 0
* /svo/T_world_imuinit/qy: 0
* /svo/T_world_imuinit/qz: 0
* /svo/calib_file: /home/rukangxu/MA...
* /svo/cam0_topic: /stereo_publisher...
* /svo/cam1_topic: /stereo_publisher...
* /svo/depth_filter_affine_est_gain: True
* /svo/depth_filter_affine_est_offset: True
* /svo/detector_threshold_primary: 10
* /svo/detector_threshold_secondary: 200
* /svo/grid_size: 35
* /svo/img_align_est_illumination_gain: True
* /svo/img_align_est_illumination_offset: True
* /svo/img_align_max_level: 4
* /svo/img_align_min_level: 2
* /svo/img_align_prior_lambda_rot: 0.0
* /svo/img_align_prior_lambda_trans: 0.0
* /svo/init_min_disparity: 30
* /svo/kfselect_criterion: FORWARD
* /svo/kfselect_min_angle: 6
* /svo/kfselect_min_disparity: 40
* /svo/kfselect_min_dist_metric: 0.001
* /svo/kfselect_min_num_frames_between_kfs: 0
* /svo/kfselect_numkfs_lower_thresh: 90
* /svo/kfselect_numkfs_upper_thresh: 180
* /svo/map_scale: 5.0
* /svo/max_depth_inv: 0.029
* /svo/max_fts: 180
* /svo/max_n_kfs: 30
* /svo/mean_depth_inv: 0.5
* /svo/min_depth_inv: 2.857
* /svo/n_pyr_levels: 3
* /svo/pipeline_is_stereo: True
* /svo/poseoptim_prior_lambda: 0.0
* /svo/poseoptim_thresh: 2.0
* /svo/poseoptim_using_unit_sphere: False
* /svo/publish_every_nth_dense_input: 5
* /svo/publish_marker_scale: 0.5
* /svo/quality_max_drop_fts: 80
* /svo/quality_min_fts: 40
* /svo/reprojector_affine_est_gain: True
* /svo/reprojector_affine_est_offset: True
* /svo/reprojector_max_n_kfs: 5
* /svo/scan_epi_unit_sphere: False
* /svo/seed_convergence_sigma2_thresh: 200
* /svo/update_seeds_with_old_keyframes: True
* /svo/use_async_reprojectors: True
* /svo/use_ceres_backend: False
* /svo/use_imu: False
* /svo/use_threaded_depthfilter: False
NODES
/
svo (svo_ros/svo_node)
svo_gui (rqt_gui/rqt_gui)
vis (rviz/rviz)
auto-starting new master
process[master]: started with pid [41957]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 9be08138-cfe3-11ec-973e-c9f871fab344
process[rosout-1]: started with pid [41970]
started core service [/rosout]
process[svo-2]: started with pid [41978]
process[vis-3]: started with pid [41979]
process[svo_gui-4]: started with pid [41980]
[ INFO] [1652133703.024027435]: Found parameter: pipeline_is_stereo, value: 1
[ WARN] [1652133703.025699570]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1652133703.026175200]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1652133703.027465780]: Found parameter: calib_file, value: /home/rukangxu/MA_IAS/svo_ws/src/rpg_svo_pro_open/svo_ros/param/calib/oakd_stereo.yaml
F0510 00:01:43.028653 41978 rotation-quaternion-inl.h:115] Check failed: isValidRotationMatrix(matrix) 0000.999724 0-0.0227311 00.00597664
000.0226936 0000.999723 00.00627129
-0.00611753 -0.00613392 0000.999962
*** Check failure stack trace: ***
@ 0x7f6ee65bb703 google::LogMessage::Fail()
@ 0x7f6ee65c04ab google::LogMessage::SendToLog()
@ 0x7f6ee65bb3ff google::LogMessage::Flush()
@ 0x7f6ee65bbc2f google::LogMessageFatal::~LogMessageFatal()
@ 0x7f6ee6ac88b9 kindr::minimal::RotationQuaternionTemplate<>::RotationQuaternionTemplate()
@ 0x7f6ee6637582 YAML::convert<>::decode()
@ 0x7f6ee662052e vk::cameras::NCamera::loadFromYaml()
@ 0x7f6ee72fef8b svo::factory::loadCameraFromYaml()
@ 0x7f6ee730151c svo::factory::makeStereo()
@ 0x7f6ee72d9235 svo::SvoInterface::SvoInterface()
@ 0x7f6ee7304651 svo_ros::SvoNodeBase::SvoNodeBase()
@ 0x561596562541 main
@ 0x7f6ee6eca0b3 __libc_start_main
@ 0x5615965625de _start
[svo-2] process has died [pid 41978, exit code -6, cmd /home/rukangxu/MA_IAS/svo_ws/devel/lib/svo_ros/svo_node __name:=svo __log:=/home/rukangxu/.ros/log/9be08138-cfe3-11ec-973e-c9f871fab344/svo-2.log].
log file: /home/rukangxu/.ros/log/9be08138-cfe3-11ec-973e-c9f871fab344/svo-2*.logIt is about the rotation matrix checking. However, after checking the src file, I still have no clear clue what incurs that but guess that it's not allowed to set the transformatio matrices in the way shown above. So, would you tell me what that's about? Or is it simply not possible to run stereo setup without IMU?
mohamedlaminetazir
MauUnterKarottenbaum
Currently I can run SVO on monocular sensing successfully? And I would further run it on stereo setup for comparison on my own dataset as done in your paper. However, it seems that all launching scripts related with stereo sensing are all performed with IMU (loosely coupled in frontend and tightly coupled). So, I would like to ask if this repo supports any implementation of runnning SVO simply based on stereo camera without IMU measurement? Thanks in advance.