Visual-Inertial Sensor Calibration -- Live OpenVINS State Estimation Demo

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  • Опубліковано 9 січ 2025

КОМЕНТАРІ • 17

  • @pullmed
    @pullmed Рік тому +2

    Thanks for your video. Since librealsense v2.53.1 is last version that supports T265, i would suggest anyone who follows this video should build librealsense from source(branch R/253).

  • @vaxa-fo2hm
    @vaxa-fo2hm Рік тому +1

    Hi, very interesting video, thank you for demonstrating this technology.

  • @Kienlt11
    @Kienlt11 Рік тому +1

    Thank for your great video!

  • @divyamgarg9078
    @divyamgarg9078 Рік тому

    Amazing video, awesome tutorial. I was able get correct pose with two standalone cameras mounted on a drone using this tutorial. I was wondering if you could make a similar video going a bit deeper on understanding the parameters.

  • @martinlucan7683
    @martinlucan7683 Місяць тому

    Hi, please can Kalibr perform multicam extrinstics calibration even on systems with non-overlapping FOVs? Thank you.

  • @aishwarya385
    @aishwarya385 Рік тому

    Really interesting video, I have a short question, can I use this algorithm with other stereo cameras like ZED2 and azure kinect as well?

  • @archiebrown1405
    @archiebrown1405 4 місяці тому

    Hi Patrick. I was just wondering, would I be able to use a 9 axis imu with OpenVINS?

  • @banafshebamdad8466
    @banafshebamdad8466 Рік тому

    Thank you for your great video.
    I was wondering if:
    1. we can collect the required data for camera calibration (static.bag) and visual inertial calibration (dynamic.bag) into one bag file and record camera topics and IMU topics into one bag file?
    2. how you record a very long dataset of the IMU? I would be grateful if you could give a brief explanation like what you showed in the video to collect camera data (You stood in front of the AprilGrid and moved the camera in different directions.)

    • @patrickgeneva
      @patrickgeneva  Рік тому +1

      You can collect a single dynamic bag and process it in both steps. For the long static IMU dataset, simply keep the IMU stationary, and record just the IMU topic into a bag for >20 hours.

    • @banafshebamdad8466
      @banafshebamdad8466 Рік тому

      @@patrickgeneva Thank you so much💮

  • @dimitrioskosyvas7203
    @dimitrioskosyvas7203 5 місяців тому

    Hello , if i dont have imu and only stereo cameras ,can i pass the result from the first cameras_calibration to VINS FUSION directly?

  • @madeautonomous
    @madeautonomous Рік тому

    Thank you for this tutorial! I have a D435i and am waiting to see if anyone is porting OpenVins to ROS 2... Foxy/Humble or higher... currently in installation hell :' (

  • @oguzhanbozoglu7996
    @oguzhanbozoglu7996 Рік тому

    Hello Patrick, Thank you for your guidance. I need to ask you about the error which I got in OpenVins demonstration step. I follow every step what you did. I will put the error output to your seen. I use rs-d455 and I stuck here. Thank you in advance.
    """""
    process[ov_msckf-1]: started with pid [28691]
    overriding node verbosity with value from ROS!
    Setting printing level to: INFO
    overriding node max_cameras with value from ROS!
    overriding node max_cameras with value from ROS!
    overriding node use_stereo with value from ROS!
    the sensor cam1 of type [NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE] was not found...
    the sensor cam1 of type [St6vectorIdSaIdEE] was not found...
    the sensor cam1 of type [St6vectorIdSaIdEE] was not found...
    the sensor cam1 of type [St6vectorIiSaIiEE] was not found...
    the sensor cam1 of type [N5Eigen6MatrixIdLi4ELi4ELi0ELi4ELi4EEE] was not found...
    overriding node record_timing_information with value from ROS!
    overriding node record_timing_filepath with value from ROS!
    overriding node use_stereo with value from ROS!
    the sensor cam1 of type [NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE] was not found...
    the sensor cam1 of type [St6vectorIdSaIdEE] was not found...
    the sensor cam1 of type [St6vectorIdSaIdEE] was not found...
    the sensor cam1 of type [St6vectorIiSaIiEE] was not found...
    the sensor cam1 of type [N5Eigen6MatrixIdLi4ELi4ELi0ELi4ELi4EEE] was not found...
    subscribing to IMU: /d455/imu
    the sensor cam1 of type [NSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE] was not found...
    subscribing to cam (stereo): /d455/color/image_raw
    subscribing to cam (stereo): /cam1/image_raw
    unable to parse all parameters, please fix
    terminate called after throwing an instance of 'boost::wrapexcept'
    what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    ================================================================================REQUIRED process [ov_msckf-1] has died!
    process has died [pid 28691, exit code -6, cmd /home/oguzhan/catkin_ws_kalibr/devel/lib/ov_msckf/run_subscribe_msckf __name:=ov_msckf __log:=/home/oguzhan/.ros/log/43fbcdba-683f-11ee-ab34-e5d2dfc10612/ov_msckf-1.log].
    log file: /home/oguzhan/.ros/log/43fbcdba-683f-11ee-ab34-e5d2dfc10612/ov_msckf-1*.log
    Initiating shutdown!
    ================================================================================
    [ov_msckf-1] killing on exit
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done
    """""

    • @patrickgeneva
      @patrickgeneva  Рік тому

      You should specify the max number of cameras to be one since the d455 config file is only for the single color camera.

    • @oguzhanbozoglu7996
      @oguzhanbozoglu7996 Рік тому

      Thank you Patrick, I've seen the issue in Github and solved it. That's a perfect experiment 👍🏽

  • @jiachengkang1251
    @jiachengkang1251 6 місяців тому

    ty so much !

  • @rianreboucas7341
    @rianreboucas7341 10 місяців тому

    Oi Victor