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vkopli / gtsam_vio

Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.
MIT License
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how to visualize each keyframe pose #2

Closed rginjapan closed 4 years ago

rginjapan commented 4 years ago

Thank u for your work. For now, I can run the rviz to see the current camera pose relative to the world frame, however ,I can not see the odometry with your rviz config. https://drive.google.com/file/d/1WMaj3uvE_yWq9Xk8-rDbvm3yph8Aq41n/view?usp=sharing

I run with zed mini camera(stereo+IMU). Thanks ahead!

vkopli commented 4 years ago

The rviz config is set up to receive messages from the /zed/zed_node/odom topic, but your camera may be publishing the odom information to a different topic. If that's the case, you can add the topic to your rviz config and remove the one that is already there.

rginjapan commented 4 years ago

I change the transform between the odom and world in launch file, it can run on real zedmini camera now. Publish static transform between world and odom to visualized odom message from camera

node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 odom world 100"

https://drive.google.com/file/d/1436U_2K_aulz86ZSUDGsEiqvyCg_nSQQ/view?usp=sharing