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栩张
Beginner
1,076 Views

Do anyone use the drone for visual-inertial odometey/slam research?

I'm wondering how can I get the GPS data and IMU date from the drone.

I want use the drone to do some development and research in visual inertial odometry/slam.

These data is very important and it better to get these data in time synchronization condition.

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13 Replies
idata
Community Manager
44 Views

Hello tuantuan91,

 

 

Thank you for contacting Intel Customer Support.

 

To access the GPS and IMU data, you would need to use an API like dronekit or mavlink to get GPS information:

 

https://github.com/intel-aero/meta-intel-aero/wiki/04-Autonomous-drone-programming-in-Python https://github.com/intel-aero/meta-intel-aero/wiki/04-Autonomous-drone-programming-in-Python

 

You might also find these helpful:

 

http://python.dronekit.io/automodule.html?highlight=gps# dronekit.GPSInfo

 

http://python.dronekit.io/examples/create_attribute.html?highlight=imu%20data

 

 

Regards,

 

Alexandra
栩张
Beginner
44 Views

Hi Alex

Thanks for your help.

Is there any method for Yocto?I saw the link said this method is on the ubuntu.

anyway,I will try with this method.

BTW Do you know how can I get the imu to camera extrinsic parameters?How to calibrate these parameters for the drone?

Thanks

Xupei

栩张
Beginner
44 Views

Hi Alex

Do you have some sample code for get the information of GPS and IMU?

BTW I have a question about the motor.I fly the drone for a while.

 

it works well.but about few minutes.one of the motor's alarm will sound and the drone can not take off.

after a few minutes rest it will work again.

Thanks

Xupei

栩张
Beginner
44 Views

Hi Alex

Can I get the GPS data and IMU data by ROS?

Thanks

Xupei

idata
Community Manager
44 Views

Hello tuantuan91,

 

 

In order for us to be more able to assist you and help you, please open a new thread when you have a different issue that is not related to your original question and do not open multiple threads with the same issue.

 

Also, if the motor is overheating, you should stop flying the drone until we figure out why.

 

 

Regards,

 

Alexandra
栩张
Beginner
44 Views

Hi Alex

Thanks for your help.

Thanks

Xupei

idata
Community Manager
44 Views

Hi tuantuan91,

 

 

Here you can find the sample code for getting the GPS and IMU data:

 

http://python.dronekit.io/automodule.html?highlight=gps# dronekit.GPSInfo

 

http://python.dronekit.io/examples/create_attribute.html?highlight=imu%20data

 

You can also get the data with ROS:

 

http://wiki.ros.org/mavros# mavros.2BAC8-Plugins.global_position

 

 

Can you also give me more details on what happened before the motor issue started?

 

Did the drone crash? Was there any humidity? etc.

 

 

Regards,

 

Alexandra
栩张
Beginner
44 Views

Hi Alex

Thanks for your help.

it works well.

BTW Do you know how to get the intrinsic parameter of your drone's camera and how to get the extrinsic parameters between the imu and camera?

those parameters are very important for developing visual-inertial odometry/slam research.

for the motor:

Yes,the drone had crashed but not very heavy.

This issue occurred several times before.

After we gave the drone a rest it will be work again.

Thanks

Xupei

idata
Community Manager
44 Views

Hi tuantuan91,

 

 

It could be an issue with the drone ventilation that could've occurred after the crash. You should check the physical components of the ventilation system.

 

Also, you should check the safety tab in QGroundControl (picture attached) and see if there are any warnings.

 

 

Regards,

 

Alexandra
栩张
Beginner
44 Views

Hi Alex

Thanks for your help.

I have a question about the camera parameter calibration and the extrinsic parameter calibration(imu between camera).

Do you know how what the max operating frequency of the drone's IMU.

As the data I recorded by ros it was 50hz.

Thanks

Xupei

idata
Community Manager
44 Views

Hello tuantuan91,

 

 

As I previously told you, please open a new thread when you have a different issue that is not related to your original question.

 

 

Regards,

 

Alexandra
idata
Community Manager
44 Views

Hi tuantuan91,

 

 

It seems that you already asked this question in a different thread https://communities.intel.com/thread/124752 https://communities.intel.com/thread/124752 , therefore, you don't need to open a new one.

 

I am going to close this case.

 

 

Regards,

 

Alexandra
栩张
Beginner
44 Views

Hi Alex

I think it's better to close that case.

Thanks

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