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Published 20 hours ago • verified publisher icon UZ-SLAMLab

IMU infinity initialize problem

Open romaster93 opened this issue 4 years ago • 5 comments

roslaunch orb_slam3_ros_wrapper orb_slam3_stereo_inertial_euroc.launch ... logging to /home/cho/.ros/log/9c21e248-7744-11eb-92b9-2cf05daf48ec/roslaunch-cho-5572.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://localhost:46801/

SUMMARY

PARAMETERS

  • /orb_slam3_ros/trajectory_server_orb_slam3/source_frame_name: /base_link
  • /orb_slam3_ros/trajectory_server_orb_slam3/target_frame_name: /world
  • /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_publish_rate: 20.0
  • /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_update_rate: 20.0
  • /orb_slam3_stereo_inertial/do_equalize: True
  • /orb_slam3_stereo_inertial/do_rectify: True
  • /orb_slam3_stereo_inertial/map_frame_id: world
  • /orb_slam3_stereo_inertial/pose_frame_id: base_link
  • /orb_slam3_stereo_inertial/settings_file: /home/cho/catkin_...
  • /orb_slam3_stereo_inertial/voc_file: /home/cho/catkin_...
  • /rosdistro: melodic
  • /rosversion: 1.14.10

NODES / orb_slam3_stereo_inertial (orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_stereo_inertial) rviz (rviz/rviz) /orb_slam3_ros/ trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)

ROS_MASTER_URI=http://localhost:11311

process[orb_slam3_stereo_inertial-1]: started with pid [5587] process[rviz-2]: started with pid [5588] process[orb_slam3_ros/trajectory_server_orb_slam3-3]: started with pid [5589] [ INFO] [1614327878.766137577]: Waiting for tf transform data between frames /world and /base_link to become available [ INFO] [1614327878.818895556]: rviz version 1.13.15 [ INFO] [1614327878.818936396]: compiled against Qt version 5.9.5 [ INFO] [1614327878.818946046]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1614327878.825717434]: Forcing OpenGl version 0.

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo-Inertial

Loading ORB Vocabulary. This could take a while... [ INFO] [1614327879.294475473, 11482.677000000]: Stereo is NOT SUPPORTED [ INFO] [1614327879.294540455, 11482.677000000]: OpenGl version: 4.6 (GLSL 4.6). [ WARN] [1614327879.766546984, 11483.151000000]: No transform between frames /world and /base_link available after 11483.151000 seconds of waiting. This warning only prints once. Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

  • Camera: Pinhole
  • fx: 984.244
  • fy: 980.814
  • cx: 690
  • cy: 233.197
  • k1: 0
  • k2: 0
  • p1: 0
  • p2: 0
  • fps: 10
  • color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 35.1879

ORB Extractor Parameters:

  • Number of Features: 1200
  • Scale Levels: 8
  • Scale Factor: 1.2
  • Initial Fast Threshold: 20
  • Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): [0.014865543, -0.99988091, 0.004140297, 0; 0.99955726, 0.014967213, 0.02571553, 0; -0.025774436, 0.0037561883, 0.99966073, 0; 0, 0, 0, 1]

IMU frequency: 800 Hz IMU gyro noise: 0.00017 rad/s/sqrt(Hz) IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz) IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz) IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz) not IMU meas id last: 0 id curr: 1 Timestamp jump detected, before IMU initialization. Reseting... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 0 0 Frames set to lost not IMU meas First KF:0; Map init KF:0 New Map created with 41 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 3 mnInitialFrameId = 1 2 Frames set to lost not IMU meas First KF:1; Map init KF:0 New Map created with 44 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 6 mnInitialFrameId = 4 4 Frames set to lost not IMU meas First KF:2; Map init KF:1 New Map created with 41 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 9 mnInitialFrameId = 7 6 Frames set to lost not IMU meas First KF:3; Map init KF:2 New Map created with 37 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 12 mnInitialFrameId = 10 8 Frames set to lost not IMU meas First KF:4; Map init KF:3 New Map created with 43 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 15 mnInitialFrameId = 13 10 Frames set to lost not IMU meas First KF:5; Map init KF:4 New Map created with 39 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 18 mnInitialFrameId = 16 12 Frames set to lost not IMU meas First KF:6; Map init KF:5 New Map created with 44 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 21 mnInitialFrameId = 19 14 Frames set to lost not IMU meas First KF:7; Map init KF:6 New Map created with 47 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 24 mnInitialFrameId = 22 16 Frames set to lost not IMU meas First KF:8; Map init KF:7 New Map created with 44 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 27 mnInitialFrameId = 25 18 Frames set to lost not IMU meas First KF:9; Map init KF:8 New Map created with 46 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 30 mnInitialFrameId = 28 20 Frames set to lost not IMU meas First KF:10; Map init KF:9 New Map created with 44 points Fail to track local map! IMU is not or recently initialized. Reseting active map... [ INFO] [1614327885.766974002, 11489.151000000]: Finished waiting for tf, waited 11489.150000 seconds LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 33 mnInitialFrameId = 31 22 Frames set to lost not IMU meas First KF:11; Map init KF:10 New Map created with 34 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 36 mnInitialFrameId = 34 24 Frames set to lost not IMU meas ^CFirst KF:12; Map init KF:11 New Map created with 33 points Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!!

IMU continues to be initialized and the position becomes 0,0,0. Also, the feature point on the image repeatedly flickers. While the drone is flying, the position changes abruptly and it cannot maintain its posture.

https://youtu.be/tU3YKnHOyks

Dose anyone know of a solution to this?

romaster93 avatar Feb 26 '21 07:02 romaster93

We are experiencing the same issue, did you solve it?

FredrikErikJohansson avatar Mar 02 '21 11:03 FredrikErikJohansson

We are experiencing the same issue, did you solve it?

no..... not yet...... However, there is a problem that requires initial movement.

romaster93 avatar Mar 03 '21 01:03 romaster93

Some motion excitation is needed to initialize IMU

ThornsOoO avatar Mar 12 '21 08:03 ThornsOoO

Hi Did you find the solution for this. Im experiencing the same problem

aravindSolteq avatar Apr 30 '21 10:04 aravindSolteq

@romaster93 Hi! Did you solved that? I'm experiencing the same problem, although the drone need initial movement, but it is not resonable that the position changes abruptly, is it? Any suggestions is appreciated.

WeilongXia avatar Jul 17 '22 08:07 WeilongXia