KumarRobotics
runing with my stereo cam ,can not feature tracking
i can runing vins-fusion with this cam , but i don‘t know why it can not runing msckf
msckf_58.launch
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="publish_tf" value="true"/>
<param name="frame_rate" value="20"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>
<param name="translation_threshold" value="0.4"/>
<param name="tracking_rate_threshold" value="0.5"/>
<!-- Feature optimization config -->
<param name="feature/config/translation_threshold" value="-1.0"/>
<!-- These values should be standard deviation -->
<param name="noise/gyro" value="0.0016695125597945453"/>
<param name="noise/acc" value="0.016127299749360113"/>
<param name="noise/gyro_bias" value="6.876842257721794e-05"/>
<param name="noise/acc_bias" value="0.0008448890710689447"/>
<param name="noise/feature" value="0.015"/>
<param name="initial_state/velocity/x" value="0.0"/>
<param name="initial_state/velocity/y" value="0.0"/>
<param name="initial_state/velocity/z" value="0.0"/>
<!-- These values should be covariance -->
<param name="initial_covariance/velocity" value="0.25"/>
<param name="initial_covariance/gyro_bias" value="0.01"/>
<param name="initial_covariance/acc_bias" value="0.01"/>
<param name="initial_covariance/extrinsic_rotation_cov" value="2.742e-4"/>
<param name="initial_covariance/extrinsic_translation_cov" value="4e-4"/>
<remap from="~imu" to="/XSX_Y37_D/FC1ASH24A80005/imu_single"/>
<remap from="~features" to="image_processor/features"/>
</node>
image_processor_58.launch
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="grid_row" value="4"/>
<param name="grid_col" value="5"/>
<param name="grid_min_feature_num" value="1"/>
<param name="grid_max_feature_num" value="2"/>
<param name="pyramid_levels" value="3"/>
<param name="patch_size" value="15"/>
<param name="fast_threshold" value="20"/>
<param name="max_iteration" value="30"/>
<param name="track_precision" value="0.1"/>
<param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/XSX_Y37_D/FC1ASH24A80005/imu_single"/>
<remap from="~cam0_image" to="/XSX_Y37_D/FC1ASH24A80005/leftir/image_rect_color"/>
<remap from="~cam1_image" to="/XSX_Y37_D/FC1ASH24A80005/rightir/image_rect_color"/>
</node>
config/58.yaml
The modifications of the output file from Kalibr:
1. For each matrix (e.g. cam0/T_cam_imu), remove the brackets and minus sign for each line. Use one pair of brackets for each matrix.
2. Add the T_imu_body at the end of the calibration file (usually set to identity).
cam0: T_cam_imu: [-0.016459982620549513, -0.9997689165362471, 0.013826876005498534, 0.04890864329044867, 0.005460363042668004, -0.013918424300812943, -0.9998882247033547, 0.006053701025792218, 0.999849615396023, -0.016382643038373335, 0.005688198265159566, -0.010763853999978312, 0.0, 0.0, 0.0, 1.0] camera_model: pinhole distortion_coeffs: [-0.00483385626713293, 0.014665871460289569, 0.00013578853195493032, -0.000492749218415908] distortion_model: radtan intrinsics: [387.2172892674581, 387.9805680656156, 336.31597445629615, 242.59714063716427] resolution: [640, 480] timeshift_cam_imu: -0.004981825231606098 cam1: T_cam_imu: [-0.011349596203369616, -0.9998416949421869, 0.013702982199344071, -0.022505759669362586, 0.006160356061982231, -0.013773520272834072, -0.9998861635968785, 0.006033484692728014, 0.9999166148630646, -0.01126388895670205, 0.00631570473985521, -0.010509452631145659, 0.0, 0.0, 0.0, 1.0]
T_cn_cnm1:
[0.9999869316521453, 0.0001527974837475382, 0.005110105463854651, -0.07135968436579443,
-0.00015636391732306475, 0.9999997445041712, 0.0006975255641581316, -5.05917597915646e-06,
-0.0051099975780929795, -0.0006983154847596858, 0.999986700051671, 0.0005084086520590831,
0.0, 0.0, 0.0, 1.0]
camera_model: pinhole
distortion_coeffs: [-0.021723317092304323, 0.04899028966646229, -0.0005118002094316359, -0.00035261158845777227]
distortion_model: radtan
intrinsics: [387.7693322708673, 388.59055870322555, 334.5624198148224, 242.26053858071492]
resolution: [640, 480]
timeshift_cam_imu: -0.005026320260578879
T_imu_body:
[1.0000, 0.0000, 0.0000, 0.0000,
0.0000, 1.0000, 0.0000, 0.0000,
0.0000, 0.0000, 1.0000, 0.0000,
0.0000, 0.0000, 0.0000, 1.0000]
i can runing vins-fusion with this cam , but i don‘t know why it can not runing ms
msckf_58.launch
<!-- Calibration parameters --> <rosparam command="load" file="$(arg calibration_file)"/> <param name="publish_tf" value="true"/> <param name="frame_rate" value="20"/> <param name="fixed_frame_id" value="$(arg fixed_frame_id)"/> <param name="child_frame_id" value="odom"/> <param name="max_cam_state_size" value="20"/> <param name="position_std_threshold" value="8.0"/> <param name="rotation_threshold" value="0.2618"/> <param name="translation_threshold" value="0.4"/> <param name="tracking_rate_threshold" value="0.5"/> <!-- Feature optimization config --> <param name="feature/config/translation_threshold" value="-1.0"/> <!-- These values should be standard deviation --> <param name="noise/gyro" value="0.0016695125597945453"/> <param name="noise/acc" value="0.016127299749360113"/> <param name="noise/gyro_bias" value="6.876842257721794e-05"/> <param name="noise/acc_bias" value="0.0008448890710689447"/> <param name="noise/feature" value="0.015"/> <param name="initial_state/velocity/x" value="0.0"/> <param name="initial_state/velocity/y" value="0.0"/> <param name="initial_state/velocity/z" value="0.0"/> <!-- These values should be covariance --> <param name="initial_covariance/velocity" value="0.25"/> <param name="initial_covariance/gyro_bias" value="0.01"/> <param name="initial_covariance/acc_bias" value="0.01"/> <param name="initial_covariance/extrinsic_rotation_cov" value="2.742e-4"/> <param name="initial_covariance/extrinsic_translation_cov" value="4e-4"/> <remap from="~imu" to="/XSX_Y37_D/FC1ASH24A80005/imu_single"/> <remap from="~features" to="image_processor/features"/> </node>
`
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
<param name="publish_tf" value="true"/>
<param name="frame_rate" value="20"/>
<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
<param name="child_frame_id" value="odom"/>
<param name="max_cam_state_size" value="20"/>
<param name="position_std_threshold" value="8.0"/>
<param name="rotation_threshold" value="0.2618"/>
<param name="translation_threshold" value="0.4"/>
<param name="tracking_rate_threshold" value="0.5"/>
<!-- Feature optimization config -->
<param name="feature/config/translation_threshold" value="-1.0"/>
<!-- These values should be standard deviation -->
<param name="noise/gyro" value="0.0016695125597945453"/>
<param name="noise/acc" value="0.016127299749360113"/>
<param name="noise/gyro_bias" value="6.876842257721794e-05"/>
<param name="noise/acc_bias" value="0.0008448890710689447"/>
<param name="noise/feature" value="0.015"/>
<param name="initial_state/velocity/x" value="0.0"/>
<param name="initial_state/velocity/y" value="0.0"/>
<param name="initial_state/velocity/z" value="0.0"/>
<!-- These values should be covariance -->
<param name="initial_covariance/velocity" value="0.25"/>
<param name="initial_covariance/gyro_bias" value="0.01"/>
<param name="initial_covariance/acc_bias" value="0.01"/>
<param name="initial_covariance/extrinsic_rotation_cov" value="2.742e-4"/>
<param name="initial_covariance/extrinsic_translation_cov" value="4e-4"/>
<remap from="~imu" to="/XSX_Y37_D/FC1ASH24A80005/imu_single"/>
<remap from="~features" to="image_processor/features"/>
</node>