slightech/mynt-eye-viorb-sample

Forked from LearnVIORB: https://github.com/jingpang/LearnVIORB

mynt-eye-viorb-sample's Issues

process has died when ORBSLAM initialization succeed

运行roslaunch ORB_VIO testmynteye_s.launch，当ORB-SLAM初始化完成后，程序马上报错。如下：

imu topic: /mynteye/imu/data_raw
image topic: /mynteye/left/image_raw
local window size: 20
timestamp image delay to imu: 0
Tbc inited:
  -0.0064662     -0.99995  -0.00763565   0.00533646
    0.999979  -0.00646566 -9.55763e-05   -0.0430292
  4.6202e-05  -0.00763611     0.999971    0.0230312
           0            0            0            1
[-0.0064662001, -0.99994993, -0.0076356479, 0.0053364602;
 0.99997908, -0.006465659, -9.5576332e-05, -0.043029219;
 4.6202047e-05, -0.0076361066, 0.99997085, 0.02303124;
 0, 0, 0, 1]
Tcb inited:
  -0.0064662     0.999979   4.6202e-05    0.0430618
    -0.99995  -0.00646566  -0.00763611   0.00523385
 -0.00763565 -9.55763e-05     0.999971   -0.0229939
           0            0            0            1
[-0.0064662001, 0.99997908, 4.6202047e-05, 0.043061763;
 -0.99994993, -0.006465659, -0.0076361066, 0.0052338494;
 -0.0076356479, -9.5576332e-05, 0.99997085, -0.022993933;
 0, 0, 0, 1]
Tbc*Tcb:
          1 2.01246e-16 1.17921e-18 6.07153e-18
2.01246e-16           1 1.74715e-18 1.38778e-17
1.17921e-18 1.74715e-18           1           0
          0           0           0           1
[0.99999994, 5.6161298e-10, 0, 4.6566129e-10;
 5.6161298e-10, 0.99999994, 0, 0;
 0, 0, 1, 0;
 0, 0, 0, 1]
whether acc*9.8? 0/1: 0
whether run realtime? 0/1: 1
image delay set as 0.0ms
[ WARN] [1591786801.387123159]: Run realtime
[ WARN] [1591786801.602169280]: 12 imu messages between images, note
New Map created with 129 points
[MYNT_VIO-1] process has died [pid 12488, exit code -11, cmd /home/hri/rosbuild_ws/package_dir/MYNT-EYE-VIORB-Sample/Examples/ROS/ORB_VIO/MYNT_VIO /home/hri/rosbuild_ws/package_dir/MYNT-EYE-VIORB-Sample/Examples/ROS/ORB_VIO/../../../Vocabulary/ORBvoc.bin /home/hri/rosbuild_ws/package_dir/MYNT-EYE-VIORB-Sample/Examples/ROS/ORB_VIO/../../../config/mynteye_s.yaml __name:=MYNT_VIO __log:=/home/hri/.ros/log/baa1eb80-aacd-11ea-8255-e9adb674873e/MYNT_VIO-1.log].
log file: /home/hri/.ros/log/baa1eb80-aacd-11ea-8255-e9adb674873e/MYNT_VIO-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

make error

maybe the problem is sample,but I do not know how to solve it.
osfun@cc-K55VD:~/catkin_ws/src/MYNT-EYE-VIORB-Sample-mynteye/Examples/ROS/ORB_VIO/build$ cmake .. -DROS_BUILD_TYPE=Release
[rosbuild] Building package ORB_VIO
Failed to invoke /opt/ros/kinetic/bin/rospack deps-manifests ORB_VIO
[rospack] Error: package 'ORB_VIO' depends on non-existent package 'roscpp' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:129 (message):

Failed to invoke rospack to get compile flags for package 'ORB_VIO'. Look
above for errors from rospack itself. Aborting. Please fix the broken
dependency!

Call Stack (most recent call first):
/opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
CMakeLists.txt:4 (rosbuild_init)

-- Configuring incomplete, errors occurred!
See also "/home/rosfun/catkin_ws/src/MYNT-EYE-VIORB-Sample-mynteye/Examples/ROS/ORB_VIO/build/CMakeFiles/CMakeOutput.log".
See also "/home/rosfun/catkin_ws/src/MYNT-EYE-VIORB-Sample-mynteye/Examples/ROS/ORB_VIO/build/CMakeFiles/CMakeError.log".

视频显示部分

显示的视频似乎是okvis的

实时性

似乎直接用小觅摄像头，卡的特别厉害！