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RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU
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Doesn't work in Euroc #1

Closed pipigenius closed 3 years ago

RonaldSun commented 5 years ago

@pipigenius Your operation is correct. I updated the code, you can try it again. I'm sorry that the performance of the project has not been fully verified because I haven't found the best weighting parameters of IMU errors to balace photometric errors. In the bash file, imu_weight is the weight of IMU errors in window optimization while imu_weight_tracker in tracker. I have adjusted the weight and it seemed to run smoothly. You can try to change the weight in the bash file to get better performance. Please remind me if you have better parameters or ways to weight IMU errors. Thanks.

RonaldSun commented 5 years ago

@pipigenius I updated the code and the bash file, now it aligns the groundtruth. Note that the "FullTrajectory" shows the pose in metric coordinate.

xiaozhi12345678 commented 5 years ago

@pipigenius I run the euroc dataset，I only modify the bash file to"./build/bin/dso_dataset \ files0=/home/chenyan/文档/毕业设计/${dataname}/mav0/cam0/ \ files1=/home/chenyan/文档/毕业设计/${dataname}/mav0/cam1/ \ calib0=/home/chenyan/文档/毕业设计/VI-Stereo-DSO-master/calib/euroc/cam0.txt \ calib1=/home/chenyan/文档/毕业设计/VI-Stereo-DSO-master/calib/euroc/cam1.txt \ T_stereo=/home/chenyan/文档/毕业设计/VI-Stereo-DSO-master/calib/euroc/T_C0C1.txt \ imu_info=/home/chenyan/文档/毕业设计/VI-Stereo-DSO-master/calib/euroc/IMU_info.txt \ groundtruth=/home/chenyan/文档/毕业设计/${dataname}/mav0/state_groundtruth_estimate0/data.csv \ imudata=/home/chenyan/文档/毕业设计/${dataname}/mav0/imu0/data.csv \ pic_timestamp=/home/chenyan/文档/毕业设计/${dataname}/mav0/cam0/data.csv \ pic_timestamp1=/home/chenyan/文档/毕业设计/${dataname}/mav0/cam1/data.csv \ preset=0 mode=1 \ quiet=0 nomt=1 \ savefile_tail=/home/chenyan/文档/毕业设计/VI-Stereo-DSO-master/nt\ use_stereo=1\ imu_weight=6 imu_weight_tracker=0.6 stereo_weight=0.5" but it runs one second and comes the error "core dumped",could you please give me some advice or try it?Thank you!

JiatianWu commented 5 years ago

Hi did you succeed to run on Euroc dataset? How does it perform on Euroc? Thank you.

hjxwhy commented 2 years ago

This run_euroc.bash missed the imu_info file, it will cause IMU hessian nan, so add a line "imu_info=/home/hjx/VI-Stereo-DSO/calib/euroc/IMU_info.txt \" to the file will ok