dzqiu
commented
3 years ago @muskie82 did you test it using vins-rgbd dataset？
Open muskie82 opened 3 years ago
dzqiu
commented
3 years ago @muskie82 did you test it using vins-rgbd dataset？
feng899
commented
3 years ago Thanks for sharing your work.
I tried to run RGB-D inertial mode on Normal.bag, but tracking fails immediately. Do you have any idea why?
Commands:
rosbag play Normal.bag /camera/color/image_raw:=/rgb/image_raw /camera/aligned_depth_to_color/image_raw:=/depth_to_rgb/image_raw /camera/imu:=/imurosrun ORB_SLAM3 RGBD_inertial Vocabulary/ORBvoc.bin Examples/ROS/ORB_SLAM3/Myd435i.yamlMessage:
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt. Input sensor was set to: RGBD-Inertial Loading ORB Vocabulary. This could take a while... Vocabulary loaded! Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: Camera Parameters: - fx: 611.738 - fy: 610.111 - cx: 313.172 - cy: 252.256 - bf: 40 - k1: 0 - k2: 0 - p1: 0 - p2: 0 - fps: 30 - color order: RGB (ignored if grayscale) ORB Extractor Parameters: - Number of Features: 1000 - Scale Levels: 8 - Scale Factor: 1.2 - Initial Fast Threshold: 20 - Minimum Fast Threshold: 7 Depth Threshold (Close/Far Points): 2.6155 Left camera to Imu Transform (Tbc): [0.00087480003, -0.0047406, 0.99998838, 1.30441e-05; -0.99996811, -0.0079460004, 0.00083709997, 0.0149225; 0.0079418998, -0.9999572, -0.0047474001, 0.00031683501; 0, 0, 0, 1] IMU frequency: 500 Hz IMU gyro noise: 0.01 rad/s/sqrt(Hz) IMU gyro walk: 2e-05 rad/s^2/sqrt(Hz) IMU accelerometer noise: 0.1 m/s^2/sqrt(Hz) IMU accelerometer walk: 0.0002 m/s^3/sqrt(Hz) last KF is empty! not IMU meas last KF is empty! First KF:0; Map init KF:0 New Map created with 988 points virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 1 mnInitialFrameId = 0 15 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:6; Map init KF:0 New Map created with 982 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 17 mnInitialFrameId = 15 24 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:10; Map init KF:6 New Map created with 1003 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 27 mnInitialFrameId = 25 28 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:13; Map init KF:10 New Map created with 998 points virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() Fail to track local map! IMU is not or recently initialized. Reseting active map...
请问您解决了吗？
calmelo
commented
3 years ago Thanks for sharing your work.
I tried to run RGB-D inertial mode on Normal.bag, but tracking fails immediately. Do you have any idea why?
Commands:
* ` rosbag play Normal.bag /camera/color/image_raw:=/rgb/image_raw /camera/aligned_depth_to_color/image_raw:=/depth_to_rgb/image_raw /camera/imu:=/imu` * `rosrun ORB_SLAM3 RGBD_inertial Vocabulary/ORBvoc.bin Examples/ROS/ORB_SLAM3/Myd435i.yaml`Message:
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt. Input sensor was set to: RGBD-Inertial Loading ORB Vocabulary. This could take a while... Vocabulary loaded! Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: Camera Parameters: - fx: 611.738 - fy: 610.111 - cx: 313.172 - cy: 252.256 - bf: 40 - k1: 0 - k2: 0 - p1: 0 - p2: 0 - fps: 30 - color order: RGB (ignored if grayscale) ORB Extractor Parameters: - Number of Features: 1000 - Scale Levels: 8 - Scale Factor: 1.2 - Initial Fast Threshold: 20 - Minimum Fast Threshold: 7 Depth Threshold (Close/Far Points): 2.6155 Left camera to Imu Transform (Tbc): [0.00087480003, -0.0047406, 0.99998838, 1.30441e-05; -0.99996811, -0.0079460004, 0.00083709997, 0.0149225; 0.0079418998, -0.9999572, -0.0047474001, 0.00031683501; 0, 0, 0, 1] IMU frequency: 500 Hz IMU gyro noise: 0.01 rad/s/sqrt(Hz) IMU gyro walk: 2e-05 rad/s^2/sqrt(Hz) IMU accelerometer noise: 0.1 m/s^2/sqrt(Hz) IMU accelerometer walk: 0.0002 m/s^3/sqrt(Hz) last KF is empty! not IMU meas last KF is empty! First KF:0; Map init KF:0 New Map created with 988 points virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 1 mnInitialFrameId = 0 15 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:6; Map init KF:0 New Map created with 982 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 17 mnInitialFrameId = 15 24 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:10; Map init KF:6 New Map created with 1003 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 27 mnInitialFrameId = 25 28 Frames had been set to lost last KF is empty! not IMU meas last KF is empty! First KF:13; Map init KF:10 New Map created with 998 points virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization() Fail to track local map! IMU is not or recently initialized. Reseting active map...
I think that maybe you can try to change the camera-intrinsics as VINS-RGBD.
Thanks for sharing your work.
I tried to run RGB-D inertial mode on Normal.bag, but tracking fails immediately. Do you have any idea why?
Commands:
rosbag play Normal.bag /camera/color/image_raw:=/rgb/image_raw /camera/aligned_depth_to_color/image_raw:=/depth_to_rgb/image_raw /camera/imu:=/imurosrun ORB_SLAM3 RGBD_inertial Vocabulary/ORBvoc.bin Examples/ROS/ORB_SLAM3/Myd435i.yamlMessage: