Table of Contents

[Last generated: Wed 08 Nov 2023 05:19:35 AM UTC]

• VIO
  • 1. VINS
    • 1.1 Ceres 2.0.0
      • 1.1.a One bash install:
      • 1.1.b Manual Installation
    • 1.2 Perform VINS Demo on Recorded bag files (dependency on jack's private repo):
    • 1.3 Bag Live Player (Plotter):
• 2. Calibration
  • 2,1 How to use Kalibr
    • 2.1.0 Kalibr Dependency
  • 2.2 How to calibrate IMU (Allan Variance):
    • 2.1.a Useful Related Links:

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VIO

1. VINS

• Require Ceres 2.0.0

1.1 Ceres 2.0.0

• ubuntu 20 VINS Fusion support for Ubuntu 20.04 with Ceres Solver 2.0.0 HKUST-Aerial-Robotics/VINS-Fusion#187

1.1.a One bash install:

./UWARL_catkin_ws/src/vins-research-pkg/scripts/install_ceres.sh

1.1.b Manual Installation

• $ cd ~/JX_Linux
  $ wget http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
  $ tar zxf ceres-solver-2.0.0.tar.gz
  $ mkdir ceres-bin
  $ cd ceres-bin
  $ cmake ../ceres-solver-2.0.0
  $ make -j6
  $ make test
  $ sudo make install

1.2 Perform VINS Demo on Recorded bag files (dependency on jack's private repo):

$ cd_ws
## Base camera:
$ ./waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/tmux_vins.sh base
## EE camera:
$ ./waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/tmux_vins.sh EE

### options:
$ ./waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/tmux_vins.sh EE <bag_file_path>
$ ./waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/tmux_vins.sh EE bagfiles/waterloo_steel_demo/session_0/0_DEMO_12_recording_2023-02-03-10-05-10.bag

• You may live view the plot with Live Player above

1.3 Bag Live Player (Plotter):

$ roslaunch waterloo_steel_analyzer main.launch 
### option:
$ roslaunch waterloo_steel_analyzer main.launch bag_file:=bagfiles/waterloo_steel_demo/session_0/0_DEMO_12_recording_2023-02-03-10-05-10.bag

2. Calibration

2,1 How to use Kalibr

1. Prepare Files:

    $ vim april_grid.yaml
    # Content:
    target_type: 'aprilgrid' #gridtype
    tagCols: 6               #number of apriltags
    tagRows: 6               #number of apriltags
    tagSize: 0.088           #size of apriltag, edge to edge [m]
    tagSpacing: 0.3          #ratio of space between tags to tagSize

   and

   $ vim imu.yaml
   # Content:
   accelerometer_noise_density: 1.86e-03   #Noise density (continuous-time)
   accelerometer_random_walk:   4.33e-04   #Bias random walk
   
   gyroscope_noise_density:     1.87e-04   #Noise density (continuous-time)
   gyroscope_random_walk:       2.66e-05   #Bias random walk
   
   rostopic:                    /cam_base/imu      #the IMU ROS topic
   update_rate:                 100.0      #Hz (for discretization of the values above)

2. Calibrate camera:

   # parallels @ parallel-ubuntu-20 in ~/.ros/bagfiles/waterloo_steel_demo/session_0 [13:12:18]
   $ rosrun kalibr kalibr_calibrate_cameras --models pinhole-radtan --target april_grid.yaml --bag 5_DEMO_14_recording_2023-02-03-10-10-44.bag --topics /cam_base/color/image_raw --bag-from-to 0 10

3. Calibrate camera with imu:

   # parallels @ parallel-ubuntu-20 in ~/.ros/bagfiles/waterloo_steel_demo/session_0 [13:12:18]
   $ rosrun kalibr kalibr_calibrate_imu_camera --imu imu.yaml --target april_grid.yaml --bag 5_DEMO_14_recording_2023-02-03-10-10-44.bag  --cam 5_DEMO_14_recording_2023-02-03-10-10-44-camchain.yaml --bag-from-to 0 10

2.1.0 Kalibr Dependency

$ sudo apt-get install python3-catkin-tools python3-osrf-pycommon # ubuntu 20.04
$ sudo apt-get install -y \
    git wget autoconf automake nano \
    libeigen3-dev libboost-all-dev libsuitesparse-dev \
    doxygen libopencv-dev \
    libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev
# Ubuntu 20.04
$ sudo apt-get install -y python3-dev python3-pip python3-scipy \
    python3-matplotlib ipython3 python3-wxgtk4.0 python3-tk python3-igraph python3-pyx

2.2 How to calibrate IMU (Allan Variance):

• L515 imu: [Bosch BMI085 : https://www.mouser.com/datasheet/2/783/BST-BMI085-DS001-13-1365812.pdf]

2.1.a Useful Related Links:

• https://support.stereolabs.com/hc/en-us/articles/360012749113-How-can-I-use-Kalibr-with-the-ZED-Mini-camera-in-ROS-

• see unit https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model

  • ethz-asl/kalibr#354 (comment)
  • Still IMU Calibration:
    • https://github.com/ori-drs/allan_variance_ros <-- still maintained
      • Place your IMU on some damped surface and record your IMU data to a rosbag. You must record at least 3 hours of data.
    • https://github.com/gaowenliang/imu_utils
    • https://github.com/rpng/kalibr_allan
    • https://github.com/AlbertoJaenal/imu_still_calibration

1. cook the bag:

   $ rosrun allan_variance_ros cookbag.py --input imu_2023-02-27-12-20-36.bag --output data/cook_imu_2023-02-27-12-20-36.bag

2. allan variance compute

   $ vim config/l515.yaml
   # create `config/l515.yaml` with:
   imu_topic: "/cam_base/imu"
   imu_rate: 400
   measure_rate: 100 # Rate to which imu data is subsampled
   sequence_time: 10800 # 3 hours in seconds
   
   # compute:
   $ rosrun allan_variance_ros allan_variance data config/l515.yaml

3. Analysis:

   $ rosrun allan_variance_ros analysis.py --data data/allan_variance.csv

   accelerometer_noise_density: 0.0011772     # [(m/s^2))(1/sqrt(Hz))] = 120 x e-6 x 9.81 m/s^2/sqrt(Hz)
   accelerometer_random_walk:   0.001            # [(m/s^3))(1/sqrt(Hz))] from {Allan standard deviation (AD)}
   
   gyroscope_noise_density:     0.0002443461  # [(rad/s))(1/sqrt(Hz))] = 0.014^deg/s/sqrt(Hz)
   gyroscope_random_walk:       0.0002     # [(rad/s^2))(1/sqrt(Hz))] from {Allan standard deviation (AD)}
   
   rostopic:                    /cam_base/imu # the IMU ROS topic
   update_rate:                 100.0         # [Hz] (for discretization of the values above)

   • calibrate from https://github.com/ori-drs/allan_variance_ros [2023/02/28]

   • $ cat ../../imu_static/imu.yaml 
     #Accelerometer
     accelerometer_noise_density: 0.0019979963400731035 
     accelerometer_random_walk: 0.0001510591826346053 
     
     #Gyroscope
     gyroscope_noise_density: 0.00015066033240221485 
     gyroscope_random_walk: 7.126058907243516e-06 
     
     rostopic: /cam_base/imu #Make sure this is correct
     update_rate: 100.0 #Make sure this is correct

/home/jx/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/batch_tmux_vins.sh waterloo_steel_demo_0519 mono_rgb_imu EE d455 all all accurate_T_ic -1 -1 && /home/jx/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer/shortcuts/batch_tmux_vins.sh waterloo_steel_demo_0519 mono_rgb_imu base d455 all all accurate_T_ic -1 -1 

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