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SpectacularAI / sdk-examples

Spectacular AI SDK examples
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Not able run vio_mapper in Linux_ubuntu_x86-64 #34

Closed woshicaijihahahaha closed 2 years ago

woshicaijihahahaha commented 2 years ago

hello,when i was running ./vio_mapper /home/yy/EDisk/recording/ from the Linux_Ubuntu_x86-64 release (spectacularAI_realsensePlugin_cpp_non-commercial_1.2.0)

then some wrong messages occured : SpectacularAI WARN: Unknown camera model RS2_DISTORTION_INVERSE_BROWN_CONRADY, ignoring distortion coefficients. SpectacularAI WARN: Unknown camera model RS2_DISTORTION_BROWN_CONRADY, ignoring distortion coefficients. terminate called after throwing an instance of 'std::runtime_error' what(): unused key(s): icpMinOverlapRatio

so can you help me fix it please.

pekkaran commented 2 years ago

Please remove from recording/vio_config.yaml the line that starts with icpMinOverlapRatio:.

The warnings about distortion can be ignored, the RealSense video inputs are rectified or closely so and the default pinhole model without distortion should work well.

woshicaijihahahaha commented 2 years ago

Hello ，I found the following in the vio_config.yaml file：

noiseScale: 500 trackMinFrames: 3 trackChiTestOutlierR: 3 trackOutlierThresholdGrowthFactor: 1.3 hybridMapSize: 2 sampleSyncLag: 1 estimateImuCameraTimeShift:
outputCameraPose: True imuStationaryEnabled: True trackingStatusInitMinSeconds: 0.5 useGnss: true imuStationaryEnabled: False trackingStatusInitMinSeconds: 2.0 skipFirstNCandidates: 10 noiseProcessBGA: 1e-5 visualR: 0.01 cameraTrailLength: 12 cameraTrailHanoiLength: 8

I didn't find the icpMinOverlapRatio you mentioned,I am still a newbie in these areas，Can you look at it again for me?

pekkaran commented 2 years ago

Sorry, I misunderstood your issue. The problem has been fixed in the 1.3.0 release. Could you try again with that version?