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i2Nav-WHU / IC-GVINS

A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System
GNU General Public License v3.0
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GNSS #14

Closed nwpuyzy closed 1 year ago

nwpuyzy commented 1 year ago

hello, If GNSS is missing from the beginning, can the system support it?

thlsealight commented 1 year ago

For GNSS-involved application, GNSS is necessary to initialize the system. Nevertheless, for non-GNSS applications, a stationary condition or a wheeled odometer can help to initialize the INS (You must modify the source code).

nwpuyzy commented 1 year ago

hello, i want to get the ground_truth of the building dataset. Can you ask where can get it?

thlsealight commented 1 year ago

hello, i want to get the ground_truth of the building dataset. Can you ask where can get it?

The ground truth is provided together with the ROS bag. They are in the same directory in Baidu Cloud.

nwpuyzy commented 1 year ago

thank you!!

nwpuyzy commented 1 year ago

what is the meaning of these datas ? /time/ /pos_x/ /pos_y/ /pos_z/ /ori_w/ /ori_x/ /ori_y/ /ori_z/?

thlsealight commented 1 year ago

what is the meaning of these datas ? /time/ /pos_x/ /pos_y/ /pos_z/ /ori_w/ /ori_x/ /ori_y/ /ori_z/?

The ground truth file is defined as TUM trajectory format. Maybe you should read the document and the source code more carefully.

nwpuyzy commented 1 year ago

hello, I have read the source code and do not know how to map the odom timestamp to the timestamp of the current image (for example, in VINSmono, the header is passed in to ensure the timestamp is consistent)