Stops running after few seconds about xivo

[stephanietsuei]

Hi,

What dataset/.cfg files are you using? Can you share your terminal output?

-Stephanie

[surajmahangade]

I am using it on my camera and imu.Have used phab.json provided in the repository.
I have changed the camera calibration parameters only.Have not changed any imu calibration parameters.Thought will do that is accuracy is poor.

`started roslaunch server http://infinity:37637/

SUMMARY
PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.6
• /xivo/config_path: /home/suraj/xvio_...
• /xivo/estimator_queue_size: 1000
• /xivo/image_topic: /tello/camera/ima...
• /xivo/imu_topic: /tello/imu
• /xivo/publish_2dnav_state: True
• /xivo/publish_full_state: True
• /xivo/publish_map: True
• /xivo/publish_state: True
• /xivo/viewer_config_path: /home/suraj/xvio_...
• /xivo/viewer_type: pangolin

NODES
/
xivo (xivo/mynode)

auto-starting new master
process[master]: started with pid [25210]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6de896ec-ad69-11ea-8b27-50eb712b16f0
process[rosout-1]: started with pid [25221]
started core service [/rosout]
process[xivo-2]: started with pid [25224]
adding feature #10020 with 1 groups
`

Thank you

[stephanietsuei]

In that terminal output - does your rosbag just stop playing before it is done? Can you follow the directions here and see if the system logs give any hints?

In addition to camera calibration parameters, you really also should edit:

• the position and orientation of the camera with respect to the IMU. These are X.Tbc and X.Wbc (a rotation vector) in the initial state. Sign conventions are the same as in Chapter 2 of "A Mathematical Introduction to Robotic Manipulation", which is available for free online.
• a value of "average feature depth" used in the subfilter and filter. These are fields initial_z and also triangulation.zmin and triangulation.zmax if triangulate_pre_subfilter is set to True.

If you are not going to calibrate the IMU, I also suggest commenting out lines 13, 14, and 15 of src/CMakeLists.txt and recompiling.

Finally, if your data does not start from rest, you need to make sure that X.Wg is quite close to the real value and that gravity_init_counter is set to 0. X.Wg is the rotation vector that aligns the vector [0, 0, -9.8] to what it should be in the IMU's coordinate frame - the IMU's z-axis may or may not be pointing straight up. (I commented on this issue here as well.)

[surajmahangade]

No the bag doesn't stop playing.
I will try this and will let you know soon.

[stephanietsuei]

closing for lack of activity