Comments (6)
Hi, you will need to change the parameters. I will add some example parameter files for EUROC as well as a general instruction for parameters soon.
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Okay, Thanks.
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Hi, we added some example launch files and parameters for EuRoC datasets. Should be better than the default one and also helps with the issue #3 .
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Hi, I got everything to run and just tried the EuRoC dataset MH_01_easy in stereo mode using the launch file: euroc_stereo_imu.launch .
Thereby I got some questions:
1.Though it tracks the position of the camera I get lots of: "seed sigma is nan!-0.338734, sq-nan, check-convergence = 0" and "critical". What does that mean?
2. I also wondered if the baseline of the stereo isn't provided somewhere (does it estimate scale in stereo mode)?
3. Is there there any need to pre-undistort or rectify the input images or is it done by the tool?
Thanks a lot for the great software!
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Hi,
- it means something wrong with the depth filter, we know this issue and hope to fix/suppress it in the future.
- the baseline is defined implicitly in the calibration file. The
T_B_C
defines the transformation from the body frame to the camera frame (transformation convention). - No, there is no need for undistortion. The camera distortion is already taken care of internally.
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Hey, great thank you very much for your fast answer!
- Can I for now ignore the error or is it known that this problem influences the tracking accuracy significantly?
- Regarding the baseline:
I have kalibr calibration files (yaml) and converted them to the svo format using your provided script. The kalibr calibration includes the matrix T_cn_cnm1 which should give the transformation between the right camera and the left camera. The converter sets both T_B_C matrices to identity because of "No IMU is specified, so T_B_C is set to identity". So I should overwrite the T_B_C of the right camera in the svo-yaml with T_cn_cnm1 and leave the left T_B_C with the identity matrix? Is this correct?
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Related Issues (20)
- Assertion error while running SVO in Gazebo HOT 3
- Error while running my own bag file in SVO
- SVO-Docker integration
- Features disappears with 'Not enough matched features' and 'DepthFilter: RESET
- Different Opencv version
- Check failed issue (Mono+IMU)
- Catkin build fails HOT 3
- In a Stereo cameras + IMU setup what topic publishes the odometry taking into account sensor fusion ?
- Source code
- ROS Melodic release?
- FPS of image show in RVIZ is lower than the fps of the image publish from the camera HOT 1
- error adding symbols: File in wrong format HOT 1
- Build for Ubuntu 18 + ROS Melodic HOT 6
- Opencv Issue
- catkin build error regarding FeatureWrapper
- No Features Tracked on TartanAir
- caktin build error (Docker) HOT 1
- arm32 build fails HOT 2
- Option to turn BA on and off ?
- Query about IMU measure in VIO supported by your SVO
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