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HITSZ-NRSL / Dynamic-VINS

[RA-L 2022] RGB-D Inertial Odometry for a Resource-restricted Robot in Dynamic Environments
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The main function of source code and the figure of OpenLORIS #15

Closed HJMGARMIN closed 1 year ago

HJMGARMIN commented 1 year ago

Great work! I met some problems when I read the paper and run it.

  1. How do you draw the below picture of OpenLORIS? We also want to draw a similar figure to evaluate the robustness of our algorithm. image

  2. Can you tell me where is the main function of the source code? I can not find the main() of estimator. Thank you very much.

jianhengLiu commented 1 year ago
  1. To draw the figure, you could ref to the openloris-scene-tools
  2. It's a multi-thread software, the main() is seperated to 2 main thread process. For tracker ref to estimator_nodelet.cpp#L245, for estimator ref to estimator_nodelet.cpp#L245
HJMGARMIN commented 1 year ago

Thank you for your response. I found that the process_tracker thread was started in "trackThread = std::thread(&EstimatorNodelet::process_tracker, this);" of "void onInit() override". However, how the "onInit()" function works in the project? I do not know where is it called.

jianhengLiu commented 1 year ago

just ignore "onInit() override"

---Original--- From: @.> Date: Fri, Mar 3, 2023 11:17 AM To: @.>; Cc: @.**@.>; Subject: Re: [HITSZ-NRSL/Dynamic-VINS] The main function of source code andthe figure of OpenLORIS (Issue #15)

Thank you for your response. I found that the process_tracker thread was started in "trackThread = std::thread(&EstimatorNodelet::process_tracker, this);" of "void onInit() override". However, how the "onInit()" function works in the project? I do not know where is it called.

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