IMU Integration with ROS

[anvar-mahammad]

Hi!

I installed the OpenVSLAM branch with IMU integration and tried to install ROS Package as well. I am getting an error saying openvslam::system doesn't have a member called relocalize_by_pose_2d when building openvslam_ros.cc. I was wondering when you guys will be able to have ROS package that also has the IMU Integration? or is there a fix to this except just manually adding the classes to the system.cc and tracking_module.cc, which I suspect will kill the whole purpose of having IMU integration.

Best regards,
Anvar

[ymd-stella]

I've rebased it. I think it works now. By the way, do you know that IMU integration is not yet complete?

[anvar-mahammad]

Thanks for the heads-up! Do you have a timeline on when it will be ready? I have been following the original and now the community openvslam and it has been in the to do list for quite a while. Me and my friend are trying to build a home robot so it is a steep learning curve! Also I hade another question. I am struggling with camera calibration. I used Ros Melodic Calibration node and I get an error saying:

yaml-cpp error at line 0 column 0: invalid node; this may result from using a map iterator as a sequence iterator or vice versa

What do you use to obtain calibration data for your camera?

I have also tried to use one of the example config files to no avail. My calibration file contents are the following:

image_width: 820
image_height: 616
camera_name: csi_cam_0
camera_matrix:
rows: 3
cols: 3
data: [ 576.34139, 0. , 429.69978,
0. , 771.38529, 310.11047,
0. , 0. , 1. ]
camera_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.954283, 0.787176, 0.018706, -0.027956, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [ 1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
projection_matrix:
rows: 3
cols: 4
data: [ 424.38644, 0. , 404.98434, 0. ,
0. , 627.6886 , 326.51277, 0. ,
0. , 0. , 1. , 0. ]

[ymd-stella]

Please create another discussion if you need, as I will check it later.

[ymd-stella]

For a short answer, read the following.

https://github.com/OpenVSLAM-Community/openvslam/blob/main/example/euroc/EuRoC_stereo.yaml
https://openvslam-community.readthedocs.io/en/latest/simple_tutorial.html
https://openvslam-community.readthedocs.io/en/latest/ros_package.html#examples