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gaoxiang12 / ORB-YGZ-SLAM

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when testing with IMU no certain files #13

Open zhm1995 opened 7 years ago

zhm1995 commented 7 years ago

in localmapping.cc TryInitVIO: fgw.open("/home/jp/opensourcecode/ORB_SLAM2/tmp/gw.txt"); fscale.open("/home/jp/opensourcecode/ORB_SLAM2/tmp/scale.txt"); fbiasa.open("/home/jp/opensourcecode/ORB_SLAM2/tmp/biasa.txt"); fbiasg.open("/home/jp/opensourcecode/ORB_SLAM2/tmp/biasg.txt");

how can I get gw.txt scale.txt biasa.txt?

highlightz commented 7 years ago

Change the path to match your own machine, please. e.g. 

fgw.open("/home/YOUR_MACHINE/gw.txt");
zhm1995 commented 7 years ago

sorry.. probably I haven't spoken clearly.. I mean I find no where to download such files..

highlightz commented 7 years ago

@zhm1995 These files are generated by this program when initialization is performed, so you do not need to download them.

zhm1995 commented 7 years ago

But I cannot find any code meaning generating such files..

TouqeerAhmad commented 7 years ago

Essentially these files are not required, they are written once by the original author so that the gravity, scale and biases which are acquired during pre-integration of IMU can be used afterwards. I think you need not to worry about these.

zhm1995 commented 7 years ago

thank u so much..acutally I was encountered with this problem so I thought there was something wrong with such files.. Local Mapping RELEASE VINS inited, quit VINS init thread Quit VINSInitThread I1029 13:13:38.487130 3878 Tracking.cc:2090] Failed. return back to feature methods I1029 13:13:38.644781 3878 Tracking.cc:1591] Search by projection returns 94 I1029 13:13:38.689330 3878 Tracking.cc:502] Track Local map with imu failed. I1029 13:13:38.689432 3878 Tracking.cc:531] Set vision weak = true I1029 13:13:38.689631 3878 Tracking.cc:605] Try using imu predicted pose W1029 13:13:38.785576 3878 Tracking.cc:2081] Last frame have less observations: 0, sparse alignment may have a erroneous result, return back to feature method. I1029 13:13:38.914366 3878 Tracking.cc:1091] Search a wider window I1029 13:13:38.914747 3878 Tracking.cc:1097] Match is not enough, failed. I1029 13:13:38.919277 3878 Tracking.cc:531] Set vision weak = true I1029 13:13:38.920372 3878 Tracking.cc:605] Try using imu predicted pose W1029 13:13:39.013690 3878 Tracking.cc:2081] Last frame have less observations: 0, sparse alignment may have a erroneous result, return back to feature method. I1029 13:13:39.148257 3878 Tracking.cc:1091] Search a wider window I1029 13:13:39.149822 3878 Tracking.cc:1097] Match is not enough, failed. I1029 13:13:39.171463 3878 Tracking.cc:1591] Search by projection returns 182 CHOLMOD warning: not positive definite 段错误 (核心已转储)

Did any one of you face with problem too?

(testing with mono_euroc_vins)

TouqeerAhmad commented 7 years ago

Yes, this is happening for me as well especially for my own data set once It goes for imu initialization thread and updates the scale and map afterwards these messages starts displaying and also the trajectory flies away.

May be someone else can comment on this.