D435i + mesh is strange

[LauGasp]

D435i + mesh is strange

[yangzhongii]

Hi, I get the similar error, can you show me your kimera_vio_ros_realsense_IR.launch, I think it is related to imu parameters. Thinks

[LauGasp]

Hello @yangzhongii, my kimera_vio_ros_realsense_IR.launch is the one provided. This one:

<launch>
  <arg name="dataset_name" value="RealSenseIR"/>

  <!-- allow for different sensor calibrations -->
  <arg name="sensor_config_path" default="$(find kimera_vio)/params"/>
  <arg name="sensor_config_name" default="$(arg dataset_name)"/>
  <arg name="sensor_folder" value="$(arg sensor_config_path)/$(arg sensor_config_name)"/>

  <arg name="online" default="true" />
  <arg name="do_coarse_temporal_sync" default="false"/>
  <arg name="do_fine_temporal_sync" default="false"/>

  <arg name="log_output" default="false"/>
  <arg name="log_output_path"
       default="$(find kimera_vio_ros)/output_logs/"
       if="$(arg log_output)"/>
  <arg name="log_gt_data" default="false"/>
  <arg name="gt_topic" default=""/>
  <!-- Set use_sim_time to true if you use rosbag with clock argument -->
  <arg name="should_use_sim_time" default="false"/>

  <!-- Only used when parsing a rosbag -->
  <arg name="rosbag_path" default="default.bag"
       unless="$(arg online)"/>

  <!-- Frame IDs. These DO NOT match frame id's on the video streams, as the
	RealSense and Kimera publish conflicting Tf's -->
  <arg name="odom_frame_id"      value="odom"/>
  <arg name="base_link_frame_id" value="base_link"/>
  <arg name="map_frame_id"       value="map"/>
  <arg name="left_cam_frame_id"  value="left_cam"/>
  <arg name="right_cam_frame_id" value="right_cam"/>

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic"  value="/camera/infra1/image_rect_raw"/>
  <arg name="right_cam_topic" value="/camera/infra2/image_rect_raw"/>
  <arg name="imu_topic"       value="/camera/imu"/>

  <!-- Launch actual pipeline -->
  <include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch"
           pass_all_args="true"/>

 <!-- Launch static TF node from base_link to velo_link -->
 <node pkg="tf" type="static_transform_publisher" name="velo_link_broadcaster"
   args="0 0 0 0 0 0 1 base_link velo_link 100"/>

</launch>

and the imu parameters:

%YAML:1.0
# Type of IMU preintegration:
# 0: CombinedImuFactor
# 1: ImuFactor
imu_preintegration_type: 1

# Collected by Andrew Violette on 02/19/20
# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0]
rate_hz: 400

# inertial sensor noise model parameters (static)
imu_bias_init_sigma: 1e-3
gyroscope_noise_density: 0.000488     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
gyroscope_random_walk: 4.88e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
accelerometer_noise_density: 0.00147  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
accelerometer_random_walk: 0.00147    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )

# Extra parameters
do_imu_rate_time_alignment: 1
time_alignment_window_size_s: 10.0
time_alignment_variance_threshold_scaling: 30.0
imu_integration_sigma: 1.0e-8
imu_time_shift: 0.0
n_gravity: [0.0, 0.0, -9.81]

[ustccxy]

您好，我的 kimera_vio_ros_realsense_IR.launch 就是提供的。这个：

<launch>
  <arg name="dataset_name" value="RealSenseIR"/>

  <!-- allow for different sensor calibrations -->
  <arg name="sensor_config_path" default="$(find kimera_vio)/params"/>
  <arg name="sensor_config_name" default="$(arg dataset_name)"/>
  <arg name="sensor_folder" value="$(arg sensor_config_path)/$(arg sensor_config_name)"/>

  <arg name="online" default="true" />
  <arg name="do_coarse_temporal_sync" default="false"/>
  <arg name="do_fine_temporal_sync" default="false"/>

  <arg name="log_output" default="false"/>
  <arg name="log_output_path"
       default="$(find kimera_vio_ros)/output_logs/"
       if="$(arg log_output)"/>
  <arg name="log_gt_data" default="false"/>
  <arg name="gt_topic" default=""/>
  <!-- Set use_sim_time to true if you use rosbag with clock argument -->
  <arg name="should_use_sim_time" default="false"/>

  <!-- Only used when parsing a rosbag -->
  <arg name="rosbag_path" default="default.bag"
       unless="$(arg online)"/>

  <!-- Frame IDs. These DO NOT match frame id's on the video streams, as the
	RealSense and Kimera publish conflicting Tf's -->
  <arg name="odom_frame_id"      value="odom"/>
  <arg name="base_link_frame_id" value="base_link"/>
  <arg name="map_frame_id"       value="map"/>
  <arg name="left_cam_frame_id"  value="left_cam"/>
  <arg name="right_cam_frame_id" value="right_cam"/>

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic"  value="/camera/infra1/image_rect_raw"/>
  <arg name="right_cam_topic" value="/camera/infra2/image_rect_raw"/>
  <arg name="imu_topic"       value="/camera/imu"/>

  <!-- Launch actual pipeline -->
  <include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch"
           pass_all_args="true"/>

 <!-- Launch static TF node from base_link to velo_link -->
 <node pkg="tf" type="static_transform_publisher" name="velo_link_broadcaster"
   args="0 0 0 0 0 0 1 base_link velo_link 100"/>

</launch>

和 imu 参数：

%YAML:1.0
# Type of IMU preintegration:
# 0: CombinedImuFactor
# 1: ImuFactor
imu_preintegration_type: 1

# Collected by Andrew Violette on 02/19/20
# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0]
rate_hz: 400

# inertial sensor noise model parameters (static)
imu_bias_init_sigma: 1e-3
gyroscope_noise_density: 0.000488     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
gyroscope_random_walk: 4.88e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
accelerometer_noise_density: 0.00147  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
accelerometer_random_walk: 0.00147    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )

# Extra parameters
do_imu_rate_time_alignment: 1
time_alignment_window_size_s: 10.0
time_alignment_variance_threshold_scaling: 30.0
imu_integration_sigma: 1.0e-8
imu_time_shift: 0.0
n_gravity: [0.0, 0.0, -9.81]

May I ask if you have solved this problem, I have encountered the same problem.

[ustccxy]

嗨，我遇到了类似的错误，你能告诉我你的kimera_vio_ros_realsense_IR.launch吗，我认为这与imu参数有关。认为

May I ask if you have solved this problem, I have encountered the same problem.