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).
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.
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.)
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.
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 :' (
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 """""
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).
Hi, very interesting video, thank you for demonstrating this technology.
Thank for your great video!
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.
Hi, please can Kalibr perform multicam extrinstics calibration even on systems with non-overlapping FOVs? Thank you.
Really interesting video, I have a short question, can I use this algorithm with other stereo cameras like ZED2 and azure kinect as well?
Hi Patrick. I was just wondering, would I be able to use a 9 axis imu with OpenVINS?
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.)
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.
@@patrickgeneva Thank you so much💮
Hello , if i dont have imu and only stereo cameras ,can i pass the result from the first cameras_calibration to VINS FUSION directly?
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 :' (
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
"""""
You should specify the max number of cameras to be one since the d455 config file is only for the single color camera.
Thank you Patrick, I've seen the issue in Github and solved it. That's a perfect experiment 👍🏽
ty so much !
Oi Victor