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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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Configuration files for evaluation on the TUM VI dataset #266

Closed KopanevPavel closed 4 years ago

KopanevPavel commented 4 years ago

Added config files for the camera and IMU for testing the algorithm on the TUM VI dataset. Coefficients were taken from their calibration files. Results are pretty good but possibly could be improved with further tuning.

Results: Screenshot from 2020-07-23 20-21-39 Screenshot from 2020-07-23 20-20-41 Screenshot from 2020-07-23 20-20-25 Screenshot from 2020-07-23 18-59-17

smauq commented 4 years ago

Hi! Thanks a lot for the interest and contribution. You didn't actually compare to the ground truth?

I think a few comments on why this would not be appropriate to merge in the current state. First in our development branch we completely changed the launch file logic and this hasn't been yet reflected in the wiki. Secondly the calibrations and launch files pertain more to rovio rather than maplab itself, since from what I see you are evaluating odometry rather than mapping. In which case it would rather be more relevant for https://github.com/ethz-asl/rovio. Finally, I think it makes sense to keep the original rviz config file.