search

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Other
1.71k stars 599 forks source link

Quickly lose track on EuRoC Vicon sequences and release mode #70

Closed YipuZhao closed 5 years ago

YipuZhao commented 5 years ago

I was trying to reproduce some of the results for msckf on EuRoC sequences, with the scripts provided from this repo. While the output looks reasonable initially (e.g. the green dots), the odom estimation quickly blows up after the MAV takes off (e.g. the red dots). image The package is built under release mode, and the image processing front-end is functioning: image

Is there anything I missed? Thank you for any suggestions or hints :)

ke-sun commented 5 years ago

Could you show some screen snapshots for the terminal while the software is running?

YipuZhao commented 5 years ago

@ke-sun Sure thing. Thank you for the help! image

PS the full screen log is available via the dropbox link: https://www.dropbox.com/s/dpma6355vc7h15o/on_screen_log.txt?dl=0

ke-sun commented 5 years ago

It seems the software is not compiled in release mode if you are using a normal laptop/desktop. Otherwise, the computer is probably slow, you have to dial down the number of features.

YipuZhao commented 5 years ago

Ah I see what's happening. I was using a custom build opencv3 for my catkin workspace, which might not be built in Release mode. Switching back to the kinetic default works. Thank you for the suggestion!