ROVIO on EUROC V2_03 difficult misses trajectory estimates

[JzHuai0108]

Dear authors,

I used the tutorial_euroc on the master branch of maplab to process the EUROC dataset in stereo mode. And lastly I exported the vimap into plain csv files including vertices.csv. All resulting trajectories in vertices.csv look good except V2_03_difficult. I recall that some paper mentioned that some algorithm cannot process this sequence due to a few missing frames, eg., VIO aided SfM. But in rviz, the ROVIO provides continuous dense odometry estimates. So I guess the missing poses in vertices.csv or vi map has to do with probably the featureTracker module.

The vimap trajectory in vertices.csv are drawn in the below two figures.

I ran ROVIO twice, and it gave very similar results on V2_03 difficult, so this is not a random phenomenon. Can you please confirm this or give a fix?

FYI, my OS ubuntu 20.04, ROS Noetic. The commands to produce above results:

rosrun rovioli tutorial_euroc $resultdir /path/to/v2_03_difficult.bag --vio_nframe_sync_max_output_frequency_hz=10
rosrun maplab_console batch_runner --batch_control_file $exportscript

The content of exportscript

# Yaml-format:
vi_map_folder_paths:
  - /path/to/maplab2/result/of/euroc/V2_03_difficult
commands:
  - load --map_key dummy_vi --map_folder=<CURRENT_VIMAP_FOLDER>
  - csv_export --csv_export_path <CURRENT_VIMAP_FOLDER>

Regards,