D455 initial test

[camron-BHF]

Hi there, I'm trying to use OpenVINS for VIO with my realsense d455 camera. I was looking through the issues/tutorial on youtube and I'm able to get it 'working' except when I move the camera slightly, it just keeps on going in that direction.

I used this command: roslaunch ov_msckf subscribe.launch config:=rs_d455 max_cameras:=1

And this was the output I received:

[init]: successful initialization in 0.0008 seconds
[init]: orientation = -0.4500, 0.3623, -0.6072, 0.5454
[init]: bias gyro = -0.0710, 0.4919, -0.0374
[init]: velocity = 0.0000, 0.0000, 0.0000
[init]: bias accel = 1.4682, -9.0378, 3.2274
[init]: position = 0.0000, 0.0000, 0.0000
[TIME]: 0.0251 seconds total (39.8 hz, 29.20 ms behind)
[TIME]: 0.0136 seconds total (73.6 hz, 204.21 ms behind)
[TIME]: 0.0184 seconds total (54.5 hz, 199.29 ms behind)
[TIME]: 0.0227 seconds total (44.1 hz, 195.95 ms behind)
q_GtoI = -0.659,0.191,-0.467,0.558 | p_IinG = 0.032,0.613,-0.012 | dist = 0.00 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0342 seconds total (29.3 hz, 195.28 ms behind)
q_GtoI = -0.609,-0.310,0.313,0.660 | p_IinG = -1.293,1.668,1.439 | dist = 2.23 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0841 seconds total (11.9 hz, 8.36 ms behind)
q_GtoI = -0.592,-0.321,0.332,0.661 | p_IinG = -1.293,1.675,1.485 | dist = 2.28 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0372 seconds total (26.9 hz, 17.03 ms behind)
q_GtoI = -0.577,-0.329,0.354,0.659 | p_IinG = -1.290,1.684,1.531 | dist = 2.32 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0286 seconds total (35.0 hz, 13.69 ms behind)
q_GtoI = -0.563,-0.339,0.370,0.657 | p_IinG = -1.286,1.695,1.577 | dist = 2.37 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0304 seconds total (32.9 hz, 17.36 ms behind)
q_GtoI = -0.549,-0.352,0.387,0.652 | p_IinG = -1.280,1.708,1.624 | dist = 2.42 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0217 seconds total (46.0 hz, 14.02 ms behind)
q_GtoI = -0.533,-0.369,0.405,0.645 | p_IinG = -1.272,1.724,1.670 | dist = 2.47 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0233 seconds total (42.9 hz, 10.69 ms behind)
q_GtoI = -0.517,-0.386,0.421,0.637 | p_IinG = -1.262,1.741,1.716 | dist = 2.52 (meters)
bg = -0.0710,0.4919,-0.0374 | ba = 1.4682,-9.0378,3.2274
camera-imu timeoffset = 0.00252
cam0 intrinsics = 416.852,414.921,421.025,237.762 | -0.046,0.034,-0.000,0.000
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.028,-0.003,-0.024
[TIME]: 0.0228 seconds total (43.8 hz, 15.60 ms behind)
q_GtoI = -0.505,-0.370,0.472,0.621 | p_IinG = 1.575,2.932,1.843 | dist = 2.64 (meters)
bg = -0.0381,0.5023,-0.0423 | ba = 1.4673,-9.0385,3.2257
camera-imu timeoffset = -0.00984
cam0 intrinsics = 416.841,414.917,421.063,237.767 | -0.046,0.034,-0.000,-0.001
cam0 extrinsics = -0.000,0.002,0.004,1.000 | -0.027,-0.003,-0.023
[TIME]: 0.0208 seconds total (48.2 hz, 15.52 ms behind)
q_GtoI = -0.550,-0.348,0.448,0.613 | p_IinG = 1.771,4.756,1.929 | dist = 2.95 (meters)
bg = -0.0109,0.4718,-0.0145 | ba = 1.4683,-9.0380,3.2247
camera-imu timeoffset = -0.00828
cam0 intrinsics = 416.558,414.919,421.032,237.839 | -0.040,0.044,0.003,0.013
cam0 extrinsics = -0.001,0.002,0.004,1.000 | -0.028,-0.003,-0.023
[TIME]: 0.0238 seconds total (42.0 hz, 17.42 ms behind)
q_GtoI = -0.535,-0.365,0.461,0.606 | p_IinG = 1.857,4.871,1.977 | dist = 3.10 (meters)
bg = -0.0109,0.4718,-0.0145 | ba = 1.4683,-9.0380,3.2247
camera-imu timeoffset = -0.00828
cam0 intrinsics = 416.558,414.919,421.032,237.839 | -0.040,0.044,0.003,0.013
cam0 extrinsics = -0.001,0.002,0.004,1.000 | -0.028,-0.003,-0.023
[TIME]: 0.0166 seconds total (60.3 hz, 20.43 ms behind)
q_GtoI = -0.523,-0.378,0.472,0.601 | p_IinG = 1.942,4.986,2.022 | dist = 3.25 (meters)
bg = -0.0109,0.4718,-0.0145 | ba = 1.4683,-9.0380,3.2247
camera-imu timeoffset = -0.00828
cam0 intrinsics = 416.558,414.919,421.032,237.839 | -0.040,0.044,0.003,0.013
cam0 extrinsics = -0.001,0.002,0.004,1.000 | -0.028,-0.003,-0.023
[TIME]: 0.0151 seconds total (66.4 hz, 25.60 ms behind)
q_GtoI = -0.511,-0.390,0.482,0.596 | p_IinG = 2.029,5.105,2.066 | dist = 3.40 (meters)
bg = -0.0109,0.4718,-0.0145 | ba = 1.4683,-9.0380,3.2247
camera-imu timeoffset = -0.00828
cam0 intrinsics = 416.558,414.919,421.032,237.839 | -0.040,0.044,0.003,0.013
cam0 extrinsics = -0.001,0.002,0.004,1.000 | -0.028,-0.003,-0.023
[TIME]: 0.0140 seconds total (71.3 hz, 27.76 ms behind)
q_GtoI = -0.499,-0.402,0.491,0.590 | p_IinG = 2.117,5.228,2.110 | dist = 3.56 (meters)
bg = -0.0109,0.4718,-0.0145 | ba = 1.4683,-9.0380,3.2247
camera-imu timeoffset = -0.00828
cam0 intrinsics = 416.558,414.919,421.032,237.839 | -0.040,0.044,0.003,0.013
cam0 extrinsics = -0.001,0.002,0.004,1.000 | -0.028,-0.003,-0.023
[TIME]: 0.0197 seconds total (50.7 hz, 41.94 ms behind)
q_GtoI = -0.453,-0.445,0.537,0.556 | p_IinG = 2.237,5.620,2.073 | dist = 4.07 (meters)
bg = -0.0056,0.4905,-0.0173 | ba = 1.4730,-9.0576,3.2270
camera-imu timeoffset = -0.00739
cam0 intrinsics = 416.244,414.863,421.070,237.711 | -0.039,0.047,0.004,0.012
cam0 extrinsics = -0.001,0.001,0.003,1.000 | -0.029,-0.003,-0.024
[TIME]: 0.0145 seconds total (68.9 hz, 33.92 ms behind)
q_GtoI = -0.421,-0.475,0.556,0.537 | p_IinG = 2.581,6.039,2.215 | dist = 4.63 (meters)
bg = -0.0075,0.4872,-0.0192 | ba = 1.4721,-9.0520,3.2262
camera-imu timeoffset = -0.00733
cam0 intrinsics = 416.226,414.878,421.079,237.786 | -0.039,0.047,0.004,0.012
cam0 extrinsics = -0.000,0.001,0.003,1.000 | -0.029,-0.003,-0.024
[TIME]: 0.0213 seconds total (46.9 hz, 24.82 ms behind)
q_GtoI = -0.398,-0.495,0.567,0.524 | p_IinG = 2.794,6.372,2.283 | dist = 5.03 (meters)
bg = -0.0075,0.4872,-0.0192 | ba = 1.4721,-9.0520,3.2262
camera-imu timeoffset = -0.00733
cam0 intrinsics = 416.226,414.878,421.079,237.786 | -0.039,0.047,0.004,0.012
cam0 extrinsics = -0.000,0.001,0.003,1.000 | -0.029,-0.003,-0.024
[TIME]: 0.0159 seconds total (62.8 hz, 18.15 ms behind)
q_GtoI = -0.350,-0.536,0.588,0.494 | p_IinG = 3.243,7.114,2.406 | dist = 5.90 (meters)
bg = -0.0075,0.4872,-0.0192 | ba = 1.4721,-9.0520,3.2262
camera-imu timeoffset = -0.00733
cam0 intrinsics = 416.226,414.878,421.079,237.786 | -0.039,0.047,0.004,0.012
cam0 extrinsics = -0.000,0.001,0.003,1.000 | -0.029,-0.003,-0.024
[TIME]: 0.0228 seconds total (43.8 hz, 10.54 ms behind)
q_GtoI = -0.340,-0.546,0.592,0.485 | p_IinG = 3.359,7.317,2.435 | dist = 6.14 (meters)
bg = -0.0075,0.4872,-0.0192 | ba = 1.4721,-9.0520,3.2262
camera-imu timeoffset = -0.00733
cam0 intrinsics = 416.226,414.878,421.079,237.786 | -0.039,0.047,0.004,0.012
cam0 extrinsics = -0.000,0.001,0.003,1.000 | -0.029,-0.003,-0.024

Even though all I did was rotate the camera in my hand.

I am working on Ubuntu 18.04 with ROS Melodic, running it in my own environment not a docker container

[camron-BHF]

Also is there a way to use the color sensor rather than or is there a mask because the image in the rviz is black and white

[TiagoMartinss]

I'm also getting a similar issue here, i can apply translations with my camera but once i apply a rotation it instantly stop working well, i also did setup and calibrate my camera and imu on a melodic 18.04 ROS Docker.

[goldbattle]

Are you using the config without modification from the repository? I should work out of the box unless the sensor had some big change since its release (e.g. IMU moved or something).

[tmrpj]

I have the same issue using the default config. if I bump the camera into the desk it will begin to drift continuously in one direction. I can stop it with zupt, but that's not wanted since the robot its supposed to be attached to has regular bumps.