cpymaple
commented
1 month ago I tried
roslaunch esvio_estimator esvio.launchonHKU_aggressive_translation.bag, but the trajectory is weird and not the same as shown in bilibil.My output as follows:
daybeha@daybeha:~/Documents/github/ESVIO_ws$ roslaunch esvio_estimator esvio.launch ... logging to /home/daybeha/.ros/log/3e9961d6-5afe-11ef-9ea1-570d05a313f0/roslaunch-daybeha-135654.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://daybeha:41187/ SUMMARY ======== PARAMETERS * /pose_graph/config_file: /home/daybeha/Doc... * /pose_graph/skip_cnt: 0 * /pose_graph/skip_dis: 0.0 * /pose_graph/visualization_shift_x: 0 * /pose_graph/visualization_shift_y: 0 * /rosdistro: noetic * /rosversion: 1.16.0 * /stereo_esvio_estimator/config_file: /home/daybeha/Doc... * /stereo_esvio_estimator/esvio_folder: /home/daybeha/Doc... * /stereo_esvio_estimator/opt_verbose: False * /stereo_esvio_estimator/use_stereo_correction: True * /stereo_event_tracker/config_file: /home/daybeha/Doc... * /stereo_event_tracker/esvio_folder: /home/daybeha/Doc... * /stereo_image_tracker/config_file: /home/daybeha/Doc... * /stereo_image_tracker/esvio_folder: /home/daybeha/Doc... NODES / pose_graph (pose_graph/pose_graph) rvizvisualisation (rviz/rviz) stereo_esvio_estimator (esvio_estimator/stereo_esvio_estimator) stereo_event_tracker (feature_tracker/stereo_event_tracker) stereo_image_tracker (feature_tracker/stereo_image_tracker) ROS_MASTER_URI=http://localhost:11311 process[stereo_event_tracker-1]: started with pid [135683] process[stereo_image_tracker-2]: started with pid [135684] process[stereo_esvio_estimator-3]: started with pid [135685] process[pose_graph-4]: started with pid [135686] [ INFO] [1723730980.683639679]: init begins process[rvizvisualisation-5]: started with pid [135687] [ INFO] [1723730980.692630330]: Loaded config_file: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/esvio.yaml result path /home/cpy/Datasets/output/esvio_result_no_loop.csv /home/cpy/Datasets/output not exists, trying to create it /home/cpy/Datasets not exists, trying to create it /home/cpy not exists, trying to create it Failed to create folder /home/cpy [ INFO] [1723730980.693351823]: ROW_Image: 260.000000 COL_Image: 346.000000 [ INFO] [1723730980.693372357]: ROW_Event: 260.000000 COL_EVENT: 346.000000 [ WARN] [1723730980.693386606]: fix extrinsic param [ INFO] [1723730980.693463015]: Extrinsic_R : 0.007291 0.00511899 0.99996 -0.999955 -0.00599467 0.00732165 0.00603191 -0.999969 0.00507505 [ INFO] [1723730980.693486343]: Extrinsic_T : -0.0601617 0.00054603 -0.00046837 [ INFO] [1723730980.693512046]: Extrinsic_R_event : 0.007291 0.00511899 0.99996 -0.999955 -0.00599467 0.00732165 0.00603191 -0.999969 0.00507505 [ INFO] [1723730980.693531672]: Extrinsic_T_event : -0.0601617 0.00054603 -0.00046837 [ INFO] [1723730980.694555312]: parameters.cpp: gravity_norm: 1.000000 parameters.cpp: Not use sampson model parameters.cpp: Yes use geometric correction [ INFO] [1723730980.694601340]: Extrinsic_R2 : -0.00137886 0.00993717 0.99995 -0.999994 0.0032726 -0.00141145 -0.00328646 -0.999945 0.00993259 [ INFO] [1723730980.694623131]: Extrinsic_T2 : -0.0608378 -0.0591315 -0.00120388 [ INFO] [1723730980.694667831]: Rrl: 0.999919 0.00927393 -0.00871709 -0.00923158 0.999945 0.00488596 0.00876193 -0.00480509 0.99995 [ INFO] [1723730980.694689902]: Trl: -0.0596805 -0.000533448 0.000599073 [ INFO] [1723730980.694903137]: Loaded esvio_folder: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/ [ INFO] [1723730980.694943717]: Extrinsic_R2_event : -0.00137886 0.00993717 0.99995 -0.999994 0.0032726 -0.00141145 -0.00328646 -0.999945 0.00993259 [ INFO] [1723730980.694964740]: Extrinsic_T2_event : -0.0608378 -0.0591315 -0.00120388 [ INFO] [1723730980.694995262]: Rrl_event: 0.999919 0.00927393 -0.00871709 -0.00923158 0.999945 0.00488596 0.00876193 -0.00480509 0.99995 [ INFO] [1723730980.695014190]: Trl_event: -0.0596805 -0.000533448 0.000599073 [ INFO] [1723730980.695260950]: Loaded esvio_folder: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/ [ INFO] [1723730980.695285326]: Unsynchronized sensors, online estimate time offset, initial td: 0.00777437 [ INFO] [1723730980.695306628]: estimator.cpp: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/cam0_esvio.yaml [ INFO] [1723730980.695472509]: estimator.cpp: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/cam1_esvio.yaml [ INFO] [1723730980.695543680]: estimator.cpp: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/event0_esvio.yaml [ INFO] [1723730980.695608077]: estimator.cpp: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/event1_esvio.yaml [ WARN] [1723730980.695668911]: waiting for event, image and imu... [ WARN] [1723730980.711206986]: into event point feature detection and tracking [ INFO] [1723730980.720141273]: Loaded config_file: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/esvio.yaml [ INFO] [1723730980.720963970]: Loaded esvio_folder: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/ [ INFO] [1723730980.721073836]: Rrl_event: 0.999919 0.00927393 -0.00871709 -0.00923158 0.999945 0.00488596 0.00876193 -0.00480509 0.99995 [ INFO] [1723730980.721094300]: Trl_event: -0.0596805 -0.000533448 0.000599073 [ INFO] [1723730980.721118676]: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio//event0_esvio.yaml [ INFO] [1723730980.723932008]: reading paramerter of camera /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio//event1_esvio.yaml # Option “-x” is deprecated and might be removed in a later version of gnome-terminal. # Use “-- ” to terminate the options and put the command line to execute after it. vocabulary_file/home/daybeha/Documents/github/ESVIO_ws/src/pose_graph/support_files/brief_k10L6.bin [stereo_image_tracker-2] process has finished cleanly log file: /home/daybeha/.ros/log/3e9961d6-5afe-11ef-9ea1-570d05a313f0/stereo_image_tracker-2*.log loop start load vocabulary BRIEF_PATTERN_FILE/home/daybeha/Documents/github/ESVIO_ws/src/pose_graph/support_files/brief_pattern.yml cam calib path: /home/daybeha/Documents/github/ESVIO_ws/src/feature_tracker/../config/esvio/cam0_esvio.yaml not exists, trying to create it Failed to create folder /home/cpy/Datasets/output not exists, trying to create it /home/cpy/Datasets not exists, trying to create it /home/cpy not exists, trying to create it Failed to create folder /home/cpy no previous pose graph [ INFO] [1723731017.545263300]: esvio Not enough features or parallax; Move device around [ INFO] [1723731017.553653559]: evio Not enough features or parallax; Move device around [ INFO] [1723731017.678573615]: esvio IMU excitation not enouth! [ INFO] [1723731017.678736772]: esvio Not enough features or parallax; Move device around [ INFO] [1723731017.678757935]: evio IMU excitation not enough! [ INFO] [1723731017.678833157]: evio Not enough features or parallax; Move device around [ INFO] [1723731017.805282106]: esvio IMU excitation not enouth! [ INFO] [1723731017.805458533]: esvio Not enough features or parallax; Move device around [ INFO] [1723731017.805483467]: evio IMU excitation not enough! [ INFO] [1723731017.805552473]: evio Not enough features or parallax; Move device around [ INFO] [1723731017.936054209]: esvio IMU excitation not enouth! [ INFO] [1723731017.936236013]: esvio Not enough features or parallax; Move device around [ INFO] [1723731017.936268002]: evio IMU excitation not enough! [ INFO] [1723731017.936346507]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.064582980]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.064696337]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.239301611]: esvio IMU excitation not enouth! [ INFO] [1723731018.239482648]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.239507932]: evio IMU excitation not enough! [ INFO] [1723731018.239578404]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.370787659]: esvio IMU excitation not enouth! [ INFO] [1723731018.370978823]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.371006900]: evio IMU excitation not enough! [ INFO] [1723731018.371083659]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.500182707]: esvio IMU excitation not enouth! [ INFO] [1723731018.500351730]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.500380366]: evio IMU excitation not enough! [ INFO] [1723731018.500448115]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.627199835]: esvio IMU excitation not enouth! [ INFO] [1723731018.627381500]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.627406365]: evio IMU excitation not enough! [ INFO] [1723731018.627473555]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.762195839]: esvio IMU excitation not enouth! [ INFO] [1723731018.762376596]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.762400343]: evio IMU excitation not enough! [ INFO] [1723731018.762471095]: evio Not enough features or parallax; Move device around [ INFO] [1723731018.889451625]: esvio IMU excitation not enouth! [ INFO] [1723731018.889634687]: esvio Not enough features or parallax; Move device around [ INFO] [1723731018.889665209]: evio IMU excitation not enough! [ INFO] [1723731018.889738336]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.020793932]: esvio IMU excitation not enouth! [ INFO] [1723731019.020954784]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.020983909]: evio IMU excitation not enough! [ INFO] [1723731019.021054870]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.152660138]: esvio IMU excitation not enouth! [ INFO] [1723731019.152868274]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.152897469]: evio IMU excitation not enough! [ INFO] [1723731019.152969548]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.279522836]: esvio IMU excitation not enouth! [ INFO] [1723731019.279757094]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.279793762]: evio IMU excitation not enough! [ INFO] [1723731019.279883373]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.412497820]: esvio IMU excitation not enouth! [ INFO] [1723731019.412686191]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.412712731]: evio IMU excitation not enough! [ INFO] [1723731019.412786976]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.542716329]: esvio IMU excitation not enouth! [ INFO] [1723731019.542936338]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.542986487]: evio IMU excitation not enough! [ INFO] [1723731019.543076516]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.712629806]: esvio IMU excitation not enouth! [ INFO] [1723731019.712808398]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.712835567]: evio IMU excitation not enough! [ INFO] [1723731019.712903875]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.843178887]: esvio IMU excitation not enouth! [ INFO] [1723731019.843392751]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.843424250]: evio IMU excitation not enough! [ INFO] [1723731019.843517283]: evio Not enough features or parallax; Move device around [ INFO] [1723731019.976812224]: esvio IMU excitation not enouth! [ INFO] [1723731019.977004575]: esvio Not enough features or parallax; Move device around [ INFO] [1723731019.977034189]: evio IMU excitation not enough! [ INFO] [1723731019.977129038]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.102710300]: esvio IMU excitation not enouth! [ INFO] [1723731020.103011189]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.103051210]: evio IMU excitation not enough! [ INFO] [1723731020.103153322]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.237786476]: esvio IMU excitation not enouth! [ INFO] [1723731020.238017591]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.238050487]: evio IMU excitation not enough! [ INFO] [1723731020.238124522]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.365391546]: esvio IMU excitation not enouth! [ INFO] [1723731020.365843159]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.365999610]: evio IMU excitation not enough! [ INFO] [1723731020.366213194]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.496467389]: esvio IMU excitation not enouth! [ INFO] [1723731020.496665607]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.496697107]: evio IMU excitation not enough! [ INFO] [1723731020.496776520]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.624875808]: esvio IMU excitation not enouth! [ INFO] [1723731020.625069556]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.625095329]: evio IMU excitation not enough! [ INFO] [1723731020.625177885]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.756524305]: esvio IMU excitation not enouth! [ INFO] [1723731020.756690185]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.756714980]: evio IMU excitation not enough! [ INFO] [1723731020.756777001]: evio Not enough features or parallax; Move device around [ INFO] [1723731020.884167300]: esvio IMU excitation not enouth! [ INFO] [1723731020.884347778]: esvio Not enough features or parallax; Move device around [ INFO] [1723731020.884381163]: evio IMU excitation not enough! [ INFO] [1723731020.884459878]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.016167253]: esvio IMU excitation not enouth! [ INFO] [1723731021.016316370]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.016338860]: evio IMU excitation not enough! [ INFO] [1723731021.016399415]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.181106267]: esvio IMU excitation not enouth! [ INFO] [1723731021.181290377]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.181316918]: evio IMU excitation not enough! [ INFO] [1723731021.181385784]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.316656542]: esvio IMU excitation not enouth! [ INFO] [1723731021.316865098]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.316895620]: evio IMU excitation not enough! [ INFO] [1723731021.316973775]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.444286682]: esvio IMU excitation not enouth! [ INFO] [1723731021.444443902]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.444469046]: evio IMU excitation not enough! [ INFO] [1723731021.444531417]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.573848646]: esvio IMU excitation not enouth! [ INFO] [1723731021.573993573]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.574020323]: evio IMU excitation not enough! [ INFO] [1723731021.574088980]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.705050554]: esvio IMU excitation not enouth! [ INFO] [1723731021.705202815]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.705228098]: evio IMU excitation not enough! [ INFO] [1723731021.705311492]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.838639112]: esvio IMU excitation not enouth! [ INFO] [1723731021.838855629]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.838907593]: evio IMU excitation not enough! [ INFO] [1723731021.839028215]: evio Not enough features or parallax; Move device around [ INFO] [1723731021.967311119]: esvio IMU excitation not enouth! [ INFO] [1723731021.967480073]: esvio Not enough features or parallax; Move device around [ INFO] [1723731021.967505845]: evio IMU excitation not enough! [ INFO] [1723731021.967569753]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.094393118]: esvio IMU excitation not enouth! [ INFO] [1723731022.094581698]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.094608378]: evio IMU excitation not enough! [ INFO] [1723731022.094671867]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.223690857]: esvio IMU excitation not enouth! [ INFO] [1723731022.223917012]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.223961783]: evio IMU excitation not enough! [ INFO] [1723731022.224040008]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.353110404]: esvio IMU excitation not enouth! [ INFO] [1723731022.353393622]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.353445656]: evio IMU excitation not enough! [ INFO] [1723731022.353548886]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.482679767]: esvio IMU excitation not enouth! [ INFO] [1723731022.482861502]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.482899357]: evio IMU excitation not enough! [ INFO] [1723731022.482988409]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.658091581]: esvio IMU excitation not enouth! [ INFO] [1723731022.658271011]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.658298669]: evio IMU excitation not enough! [ INFO] [1723731022.658374450]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.791336082]: esvio IMU excitation not enouth! [ INFO] [1723731022.791509365]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.791533881]: evio IMU excitation not enough! [ INFO] [1723731022.791597299]: evio Not enough features or parallax; Move device around [ INFO] [1723731022.921383319]: esvio IMU excitation not enouth! [ INFO] [1723731022.921538723]: esvio Not enough features or parallax; Move device around [ INFO] [1723731022.921574902]: evio IMU excitation not enough! [ INFO] [1723731022.921663255]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.055647964]: esvio IMU excitation not enouth! [ INFO] [1723731023.055952765]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.055990411]: evio IMU excitation not enough! [ INFO] [1723731023.056093012]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.181290746]: esvio IMU excitation not enouth! [ INFO] [1723731023.181511594]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.181551265]: evio IMU excitation not enough! [ INFO] [1723731023.181654565]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.317183110]: esvio IMU excitation not enouth! [ INFO] [1723731023.317405215]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.317439509]: evio IMU excitation not enough! [ INFO] [1723731023.317533030]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.441558427]: esvio IMU excitation not enouth! [ INFO] [1723731023.441777669]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.441810845]: evio IMU excitation not enough! [ INFO] [1723731023.441938730]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.574644028]: esvio IMU excitation not enouth! [ INFO] [1723731023.574866831]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.574898750]: evio IMU excitation not enough! [ INFO] [1723731023.574970410]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.697053787]: esvio IMU excitation not enouth! [ INFO] [1723731023.697249910]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.697279943]: evio IMU excitation not enough! [ INFO] [1723731023.697352581]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.834099141]: esvio IMU excitation not enouth! [ INFO] [1723731023.834333957]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.834385153]: evio IMU excitation not enough! [ INFO] [1723731023.834487126]: evio Not enough features or parallax; Move device around [ INFO] [1723731023.965773258]: esvio Not enough features or parallax; Move device around [ INFO] [1723731023.965936204]: evio Not enough features or parallax; Move device around [ WARN] [1723731024.168274524]: ---------------5points---------------- [ WARN] [1723731024.168309796]: input points 141 2D inliers 3D inliers 66 [ WARN] [1723731024.244221544]: gyroscope bias initial calibration 0.00857166 -0.0210887 -0.0025865 [ INFO] [1723731024.330421288]: total depth rmse: 0.867438 [ INFO] [1723731024.386227515]: Initialization finish! optimize pose graph optimize pose graph optimize pose graph optimize pose graph optimize pose graph optimize pose graph optimize pose graph optimize pose graph [ WARN] [1723731061.512189351]: little feature 0 [ WARN] [1723731061.602570363]: little feature 0 [ WARN] [1723731061.645010368]: little feature 0 [ WARN] [1723731062.409385136]: little feature 1 optimize pose graph [ WARN] [1723731068.007827039]: little feature 1 [ WARN] [1723731069.018622934]: little feature 1 [ WARN] [1723731069.048778730]: little feature 0 [ WARN] [1723731069.530873632]: little feature 0 [ WARN] [1723731069.570246699]: little feature 0 [ WARN] [1723731069.924433736]: little feature 1 [ WARN] [1723731070.455002601]: little feature 0 [ WARN] [1723731070.497581795]: little feature 1 [ WARN] [1723731073.891335178]: little feature 0 [ WARN] [1723731076.420242076]: little feature 1 optimize pose graph [ WARN] [1723731081.305438570]: little feature 0 [ WARN] [1723731081.347195056]: little feature 0 optimize pose graph [ WARN] [1723731083.871969022]: little feature 1 optimize pose graph [ WARN] [1723731091.204530483]: little feature 0 [ WARN] [1723731091.251334106]: little feature 0 [ WARN] [1723731091.331279554]: little feature 0 [ WARN] [1723731091.384393248]: little feature 0 optimize pose graphSimilar problems occur on all other HKU dataset.
Hi, have you check the following extrinsic problem: https://github.com/arclab-hku/ESVIO/issues/1 ? The terminal shows you use the "flight version parameter". Maybe you should follow the above method to change the input of IMU.
DayBeha
I tried
roslaunch esvio_estimator esvio.launchonHKU_aggressive_translation.bag, but the trajectory is weird and not the same as shown in bilibil.My output as follows:
Similar problems occur on all other HKU dataset.