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HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
GNU General Public License v3.0
1.28k stars 525 forks source link

Data Collection App #96

Open TouqeerAhmad opened 7 years ago

TouqeerAhmad commented 7 years ago

Hi Everyone, I was wondering if anyone has successfully tested the VINS-Mobile/VINS-Mono on offline mobile data. I am looking what steps to follow to get the synchronized imu/images from a mobile device; if any of you have aware of such an app, please let me know.

I have been trying with Samsung S8 but so far have not been successful to run VINS-Mobile on this data. I used Kalibr for imu-camera calibration and used data sheet to find the noise densities etc. for the imu.yaml file.

Any help in this regards will be great. Thanks!

PeiliangLi commented 7 years ago

I have a repo: https://github.com/PeiliangLi/ios2ros which convert image and imu txt file into a ros bag. Then you can run VINS-Mono using the bag easily.

zxp771 commented 6 years ago

Hi,Peiliang @PeiliangLi

cause I failed to run vin-mobile on my phone. I'm wondering is there any way that I can test my own dataset(like record a short video by my phone) on VINS-Mono?

Thanks for your help!

EmreOzkose commented 4 years ago

Hi ! @PeiliangLi In VINS-MONO readme, The image should exceed 20Hz and IMU should exceed 100Hz is written. However, I receive images with 1Hz in my Android App. Is it a problem?