runing with my stereo cam ,can not feature tracking

[lesliennz]

i can runing vins-fusion with this cam , but i don‘t know why it can not runing msckf

[lesliennz]

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>

[lesliennz]

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>

[lesliennz]

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]

[lesliennz]

i can runing vins-fusion with this cam , but i don‘t know why it can not runing ms

[lesliennz]

after 15 mins,then

[lesliennz]

[lesliennz]

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>

`