Kimera-VIO-ROS
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Published
20 hours ago •
MIT-SPARK
MIT-SPARK
Can't build mesh with Intel RealSense D435i
Description: I installed Kimera-VIO-ROS following the installation README and solved compiling errors with the instructions in this issue #180 . The camera seems to be working properly, I can see both the RGB and depth images in rviz, but mesh is not being generated. I used the commands below and got all 0s in the statistics that are printed to the console. I tried modifying kimera_vio_ros.launch file matching the subscribed topics to the camera topics, but, as shown in "Console output", it didn't help.
Command:
roscore
roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation infra_width:=848 infra_height:=480 infra_fps:=30
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_realsense_metric.rviz
Console output:
$ roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch online:=true should_use_sim_time:=false
... logging to /home/breno/.ros/log/9c8691b4-902b-11ed-adc9-7404f15057d0/roslaunch-breno-Predator-PH315-54-25053.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://breno-Predator-PH315-54:44621/
SUMMARY
========
PARAMETERS
* /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
* /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: left_cam
* /kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
* /kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
* /kimera_vio_ros/kimera_vio_ros_node/online_run: True
* /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/breno/kimer...
* /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
* /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: right_cam
* /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
* /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
* /kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params: False
* /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
* /kimera_vio_ros/kimera_vio_ros_node/world_frame_id: world
* /kimera_vio_ros/posegraph_viewer/frame_id: world
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: False
NODES
/
velo_link_broadcaster (tf/static_transform_publisher)
/kimera_vio_ros/
kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
posegraph_viewer (pose_graph_tools/visualizer_node)
ROS_MASTER_URI=http://localhost:11311
process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [25068]
process[kimera_vio_ros/posegraph_viewer-2]: started with pid [25069]
process[velo_link_broadcaster-3]: started with pid [25070]
[ INFO] [1673275334.203140580]: Initializing pose graph visualizer
I0109 11:42:14.301340 25068 RegularVioBackend.cpp:114] Using Regular VIO Backend.
I0109 11:42:14.301426 25068 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0109 11:42:14.301515 25068 Pipeline.cpp:296] Pipeline Modules launched (parallel_run set to 1).
I0109 11:42:14.301661 25093 Pipeline.cpp:89] Spinning Kimera-VIO.
I0109 11:42:14.301643 25068 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Mesher [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 0
data_provider_right_frame_queue Size [#] 0
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
I0109 11:42:15.301731 25068 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
Stereo Data Provider [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 25 25.5505 {1.00000 +- 0.00000} [1,1]
data_provider_right_frame_queue Size [#] 25 25.5480 {13.0000 +- 7.35980} [1,25]
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
I0109 11:42:16.301743 25068 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
Stereo Data Provider [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 55 27.7900 {1.00000 +- 0.00000} [1,1]
data_provider_right_frame_queue Size [#] 55 27.7888 {28.0000 +- 16.0208} [1,55]
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
I0109 11:42:17.301785 25068 KimeraVioRos.cpp:137] Statistics
Additional files: kimera_vio_ros.launch.txt The change in the file above was replacing
<!-- Subscribed Topics -->
<arg name="left_cam_topic" default="/cam0/image_raw"/>
<arg name="left_cam_info_topic" default="/cam0/camera_info"/>
<arg name="right_cam_topic" default="/cam1/image_raw"/>
<arg name="right_cam_info_topic" default="/cam1/camera_info"/>
<arg name="imu_topic" default="/imu0"/>
by
<!-- Subscribed Topics -->
<arg name="left_cam_topic" default="/camera/infra1/image_rect_raw"/>
<arg name="left_cam_info_topic" default="/cam0/camera_info"/>
<arg name="right_cam_topic" default="/camera/infra2/image_rect_raw"/>
<arg name="right_cam_info_topic" default="/cam1/camera_info"/>
<arg name="imu_topic" default="/camera/imu"/>
- KimeraVIO branch, tag or commit used:
- GTSAM version used:
- OpenGV version used:
- OpenCV version used: type
opencv_version - Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04
- Did you change the source code? (yes / no): Only the file attached
hi there, the problem you faced is use the wrong camera info topic here:
<!-- Subscribed Topics -->
<arg name="left_cam_topic" default="/camera/infra1/image_rect_raw"/>
<arg name="left_cam_info_topic" default="/cam0/camera_info"/>
<arg name="right_cam_topic" default="/camera/infra2/image_rect_raw"/>
<arg name="right_cam_info_topic" default="/cam1/camera_info"/>
<arg name="imu_topic" default="/camera/imu"/>
and i recommend you change the topic in the file named kimera_vio_ros_realsense_IR.launch by the following codes:
<param name="input_camera_info_from_ros_params" value="false"/>
<param name="first_camera_namespace" value="/camera/infra1"/>
<param name="second_camera_namespace" value="/camera/infra2"/>
<param name="first_camera_info" value="/camera/infra1/camera_info"/>
<param name="second_camera_info" value="/camera/infra2/camera_info"/>
<param name="first_output_frame" value="left_cam_base_link"/>
<param name="second_output_frame" value="right_cam_base_link"/>
this may solve your problem.
