Kimera-VIO-ROS
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MIT-SPARK
Kimera_VIO_ROS mono with euroc dataset is not working properly
Description: I have installed Kimera-VIO-ROS properly on Ubuntu 20.0 ROS1 noetic. Wen I am trying to run the euroc dataset with mono setting it is not able to publish any mesh or odometry trajectory. I have attached the screenshot of the rviz output
I need to test Kimera VIO using the Intel RealSense D435i camera, configured with the mono setting. Specifically, I will be using the /camera/color/image_raw topic for the image data.
Command:
roslaunch kimera_vio_ros kimera_vio_ros_euroc_mono.launch
rosbag play V1_01_easy.bag --clock
Console output:
roslaunch kimera_vio_ros kimera_vio_ros_euroc_mono.launch
... logging to /home/student/.ros/log/59fa7fa6-2e5c-11ef-bb46-dbbb7155b57a/roslaunch-student-ThinkPad-L14-Gen-3-586742.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://student-ThinkPad-L14-Gen-3:36183/
SUMMARY
========
PARAMETERS
* /gt_accel_bias: [-0.012492, 0.547...
* /gt_gyro_bias: [-0.002229, 0.020...
* /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
* /kimera_vio_ros/kimera_vio_ros_node/bow_batch_size: 1
* /kimera_vio_ros/kimera_vio_ros_node/bow_skip_num: 1
* /kimera_vio_ros/kimera_vio_ros_node/force_same_image_timestamp: True
* /kimera_vio_ros/kimera_vio_ros_node/image_transport: raw
* /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: cam0
* /kimera_vio_ros/kimera_vio_ros_node/log_gt_data: False
* /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/odom_frame_id: odom
* /kimera_vio_ros/kimera_vio_ros_node/online_run: True
* /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/student/sla...
* /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
* /kimera_vio_ros/kimera_vio_ros_node/publish_vlc_frames: True
* /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: cam1
* /kimera_vio_ros/kimera_vio_ros_node/robot_id: 0
* /kimera_vio_ros/kimera_vio_ros_node/sensor_params_folder_path:
* /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
* /kimera_vio_ros/kimera_vio_ros_node/use_external_odom: False
* /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
* /kimera_vio_ros/kimera_vio_ros_node/use_lcd_registration_server: False
* /kimera_vio_ros/kimera_vio_ros_node/use_rviz: True
* /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
* /kimera_vio_ros/posegraph_viewer/frame_id: map
* /rosdistro: noetic
* /rosversion: 1.16.0
* /use_sim_time: True
NODES
/
rviz (rviz/rviz)
/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 [586767]
process[kimera_vio_ros/posegraph_viewer-2]: started with pid [586768]
process[rviz-3]: started with pid [586769]
[ INFO] [1718817760.953624123]: Initializing pose graph visualizer
[ INFO] [1718817761.075962285]: BoW vector batch size: 1
[ INFO] [1718817761.076449610]: BoW vector skip num: 1
[ INFO] [1718817761.076458729]: Publish VLC frames: 1
I0619 19:22:41.079500 586767 RosOnlineDataProvider.cpp:43] Waiting for ROS time to be valid...
(Sim Time is enabled; run rosbag with --clock argument)
I0619 19:22:46.316115 586767 RosOnlineDataProvider.cpp:61] Requested initialization from ground-truth. Initializing ground-truth odometry one-shot subscriber.
W0619 19:22:46.316130 586767 RosOnlineDataProvider.cpp:64] Waiting for ground-truth pose to initialize VIO on ros topic: /kimera_vio_ros/gt_odom
E0619 19:22:56.315166 586767 RosOnlineDataProvider.cpp:85] Missing ground-truth pose while trying for 10.0012 seconds.
Enabling autoInitialize and continuing without ground-truth pose.
I0619 19:22:56.332108 586767 RegularVioBackend.cpp:115] Using Regular VIO Backend.
I0619 19:22:56.332170 586767 PipelineModule.h:451] MISO Pipeline Module: Display has no output queue registered.
I0619 19:22:56.332280 586767 Pipeline.cpp:352] Pipeline Modules launched (parallel_run set to 1).
W0619 19:22:56.332294 586767 Pipeline.h:183] Attempt to register LCD/PGO callback, but no LoopClosureDetector member is active in pipeline.
I0619 19:22:56.332474 586857 Pipeline.cpp:102] Spinning Kimera-VIO.
I0619 19:22:56.482712 586767 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
data_provider_left_frame_queue Size [#] 1 8.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
I0619 19:22:56.534837 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:56.570318 586852 VioBackend.h:182] ------------------- Initialize Pipeline: timestamp = 1403715281912143000--------------------
W0619 19:22:56.570348 586852 InitializationFromImu.cpp:25] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis!
I0619 19:22:56.594014 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:56.643934 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:57.482762 586767 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 9 8.6 {2.7 +- 7.6} [0.0, 23.0]0.0
VioBackend [ms] 5 4.8 {0.2 +- 0.4} [0.0, 1.0] 1.0
VioFrontend Frame Rate [ms] 14 16.3 {5.4 +- 2.3} [2.0, 9.0] 7.0
VioFrontend Keyframe Rate [ms] 4 5.2 {26.2 +- 1.7} [24.0, 28.0]24.0
VioFrontend [ms] 19 16.9 {10.6 +- 9.3} [2.0, 28.0]7.0
Visualizer [ms] 5 4.8 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 5 4.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 21 18.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
display_input_queue Size [#] 9 8.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 19 17.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_backend_queue Size [#] 5 4.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 5 4.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
I0619 19:22:58.482702 586767 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 19 9.3 {1.3 +- 5.3} [0.0, 23.0]0.0
VioBackend [ms] 10 4.9 {0.9 +- 1.2} [0.0, 4.0] 1.0
VioFrontend Frame Rate [ms] 29 15.6 {5.6 +- 2.2} [2.0, 9.0] 7.0
VioFrontend Keyframe Rate [ms] 9 5.1 {26.9 +- 2.0} [24.0, 31.0]27.0
VioFrontend [ms] 39 18.3 {11.0 +- 9.4} [2.0, 31.0]7.0
Visualizer [ms] 10 4.9 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 10 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 41 19.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
display_input_queue Size [#] 19 9.3 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 39 18.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_backend_queue Size [#] 10 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 10 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
I0619 19:22:59.482786 586767 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 29 9.5 {0.8 +- 4.3} [0.0, 23.0]0.0
VioBackend [ms] 15 4.9 {1.1 +- 1.1} [0.0, 4.0] 2.0
VioFrontend Frame Rate [ms] 44 15.4 {5.1 +- 2.2} [1.0, 9.0] 3.0
VioFrontend Keyframe Rate [ms] 14 5.0 {25.5 +- 3.6} [17.0, 31.0]25.0
VioFrontend [ms] 59 18.9 {10.3 +- 9.2} [1.0, 31.0]3.0
Visualizer [ms] 15 4.9 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 15 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 61 19.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
display_input_queue Size [#] 29 9.5 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 59 18.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_backend_queue Size [#] 15 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 15 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
I0619 19:23:00.482618 586767 KimeraVioRos.cpp:205] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 39 9.7 {0.6 +- 3.7} [0.0, 23.0]0.0
VioBackend [ms] 20 4.9 {1.4 +- 1.2} [0.0, 4.0] 4.0
VioFrontend Frame Rate [ms] 59 15.3 {4.8 +- 2.2} [1.0, 9.0] 4.0
VioFrontend Keyframe Rate [ms] 19 5.0 {24.1 +- 4.2} [17.0, 31.0]20.0
VioFrontend [ms] 79 19.2 {9.7 +- 8.8} [1.0, 31.0]4.0
Visualizer [ms] 20 4.9 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 20 5.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 81 19.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
display_input_queue Size [#] 39 9.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 79 19.2 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_backend_queue Size [#] 20 4.9 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 20 5.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
^C[rviz-3] killing on exit
Additional files: Please attach all the files needed to reproduce the error.
Please give also the following information:
- KimeraVIO branch, tag or commit used : 9274124d
- GTSAM version used: 4.2a9
- OpenGV version used:
- OpenCV version used: 4.2.0
- Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu
- Did you change the source code? (yes / no): No
I also am facing the same issue, why is it asking for the groundtruth
You need to edit the BackendParams.yaml file. This should be found in ~/catkin_ws/src/Kimera-VIO/params/Euroc/BackendParams.yaml
Set autoInitialize: 1.
Then you don't need to provide a GT Odom source for initialization.
