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uzh-rpg / rpg_ultimate_slam_open

Open source code for "Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High-Speed Scenarios" RA-L 2018
GNU General Public License v3.0
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Ultimate SLAM for dvxplorer #17

Open shrutarv opened 1 year ago

shrutarv commented 1 year ago

Hi,

I have a dvxplorer camera. I am trying to run Ultimate SLAM on it. II followed the steps in the docs. All the steps ran fine until the last one. When I execute the below launch command: roslaunch ze_vio_ceres live_DAVIS240C_events_only.launch camera_name:= timeshift_cam_imu:=0.0028100209382249794

I get an error. I guess because this command is specifically for DAVIS. Is there any command for dvxplorer? Has someone tested the ultimate SLAM on dvxplorer?

The error I get is: ================================================================================REQUIRED process [ze_vio_ceres-1] has died! process has died [pid 1703060, exit code -6, cmd /home/eventcamera/uslam_ws/devel/lib/ze_vio_ceres/ze_vio_ceres_node --data_source=2 # rostopic --vio_use_events=1 --vio_use_events_and_images=0 --vio_rescale_intrinsics_for_distortion=true --timeshift_cam_imu=0.0028100209382249794 --calib_filename=/home/eventcamera/uslam_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/../../calibration/DAVIS-example.yaml --flagfile=/home/eventcamera/uslam_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_base.conf --flagfile=/home/eventcamera/uslam_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_davis.conf --data_interval_between_event_packets=33 # events-only pipeline: interval between successive event frames. --data_use_time_interval=true # events-only pipeline: if true, data_interval_between_event_packets is interpreted as milliseconds, otherwise as number of events --data_size_augmented_event_packet=40000 # max number of events per event frame (should be >= vio_frame_size) --vio_frame_size=15000 # each event frame will be drawn with that number of events --vio_do_motion_correction=1 --noise_event_rate=20000 --vio_frame_norm_factor=4.0 --vio_trace_pose=1 --log_dir=/tmp --vmodule=feature_tracker=0 --colorlogtostderr=1 --logtostderr=1 --alsologtostderr=1 --vio_viz_feature_tracks=True --vio_viz_feature_tracks_length=0 name:=ze_vio_ceres log:=/home/eventcamera/.ros/log/cf0e3dde-7bd2-11ed-bb38-9bc4b49a7e44/ze_vio_ceres-1.log]. log file: /home/eventcamera/.ros/log/cf0e3dde-7bd2-11ed-bb38-9bc4b49a7e44/ze_vio_ceres-1*.log Initiating shutdown!

SureleG commented 1 year ago

I have tested the algorithm on the dvxplorer，the command is same as other devices please check the other question

benghalensis commented 1 year ago

Hello @SureleG , Did you change any of the parameters like data_interval_between_event_packets, data_size_augmented_event_packet, etc apart from the intrinsics and extrinsics?

SureleG commented 1 year ago

@benghalensis yeah,I have changed these parameters based on my own data

ghani35 commented 1 year ago

@benghalensis yeah,I have changed these parameters based on my own data

Can you please share the values of these parameters, I am encoutring the same problem

agelamin commented 1 year ago

@ghani35 have you solved this issue. I get the same error when i try to run even the sample bags on Jetson. Your help is really appreciated!