Posted by
GilMe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Getting-errors-when-running-vins-fusion-on-euroc-dataset-tp9268.html
Hi,
I am trying to run the example for running the euroc_datasets.launch file with the vins-fusion option (Odom/Strategy 9).
I managed to install rtabmap with vins-fusion support (I applied the patch). When I tried to run the example:
> roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml" MH_seq:=true raw_images_for_odom:=true
with the following bag file
> rosbag play --clock MH_01_easy.bag
I get the following error:
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ERROR] (2022-12-22 19:11:19.044) OdometryVINS.cpp:508::computeTransform() VINS-Fusion requires stereo images (and only one stereo camera with valid calibration)!
[ INFO] [1671729079.083102053, 1403636606.500363316]: Odom: quality=0, std dev=0.010000m|0.010000rad, update time=0.038615s
I did some checks on the OdometryVINS.cpp file.
1. I checked and the config yaml file passes through.
2. I also checked the values of the condition in line 370:
if(!data.imageRaw().empty() && !data.rightRaw().empty() && data.stereoCameraModels().size() == 1 && data.stereoCameraModels()[0].isValidForProjection())
I checked the values for the conditions to see which fails:
a. !data.rightRaw().empty()
b. !data.rightRaw().empty()
c. data.stereoCameraModels().size() == 1
I couldn't check the last condition because printing it causes the program to crash.
The results I got were false for all, but ever so often they were true. It is like from time to time it is able to pass through the if condition. I think that is why I am getting Odom [INFO] messages.
I tried to install the VINS patch in several different ways and I always get the same result. I Tried:
1. Applying the patch after doing the following (instructions I found online):
> git clone
https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
> cd VINS-Fusion
> git checkout e72b5f7ae7437e8cf481cc0bcbfb5fe91bd3d640
> git apply --ignore-space-change --ignore-whitespace vins-fusion_e72b5f7.patch
2. Manually making the changes in the VINS files in the new updated repository
Anyways I am not able to get it to work. Any advice?
I also had a few questions I of things I didn't understand.
1. I could only find a reference to Odom/Strategy in icp_odometry params documentation. It doesn't seem like the icp_odom node isn't opened. To whom is the strategy passed?
2. The original vins_fusion is able to work with a monocular camera and imu (there is even an example yaml for the euroc dataset). Is there an option to run vins_fusion through rtabmap with a monocular camera?
Thanks