Error : Lost after scale updated

imrasp commented 6 years ago

3931 :: 80 :: vimuData size : 10                                                                                                                                                                           [30/1934]
Tracking status : 2
write to VISION_POSITION_ESTIMATE 
Local Mapping STOP
-----------here is the last KF in vScaleGravityKF------------
dt = -502.016, this vs next time: 14174098.432 vs 14173596.416
dt = -467.712, this vs next time: 28259467.776 vs 28259000.064
dt = -125.952, this vs next time: 34907479.808 vs 34907353.856

... Map scale updated ...

... Map NavState updated ...

Local Mapping RELEASE
3953 :: 81 :: vimuData size : 11
Tracking status : 3
3968 :: 82 :: vimuData size : 11
Tracking status : 3
3983 :: 83 :: vimuData size : 11
Tracking status : 3
finish global BA after vins init
Local Mapping STOP
Map updated!
Local Mapping RELEASE
4002 :: 84 :: vimuData size : 10
Tracking status : 3
4013 :: 85 :: vimuData

imrasp commented 6 years ago

[ ] Check on reinitialization https://github.com/jingpang/LearnVIORB/issues/17

Jingpang I didn't take re-initialization into account. When the system resets, the previous map is cleared.Some more modifications are required to implement the re-initialization with previous map, and I've not implemented that.
[x] stop cleared map process

Still not able to relocalization
[ ] check reinitialization algorithm

https://github.com/jingpang/LearnVIORB/issues/21 nailed it down to the std::vector of Frames used to compute the bias in Tracking.h to solve problem crash on relocaliztion

imrasp commented 6 years ago

https://github.com/jingpang/LearnVIORB/issues/19 feature lost when after TryInitVIO return true and sometimes the scale and depth is negative

Jingpang Perhaps the image and imu messages are not well synchronized, so the initialization may get the wrong result.

[x] Check Is scale values sometimes positive sometimes negative?

yes, check on result
[ ] try recalibrate #1 https://github.com/jingpang/LearnVIORB/issues/2 scale misalignment during turn (and all the way after that)

imrasp commented 6 years ago

--------------------------- LocalBundleAdjustment ---------------------------grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910105760500.png
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910155760500.png
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910205760500.png
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910255760500.png
Time: 15.3, sstar: 2.32195, s: 2.31188
pNewestKF->mTimeStamp (1.41339e+09) - mnStartTime(1.41339e+09) = 15.3(ConfigParam::GetVINSInitTime() is 15 ) 
scale = 2.31188
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910305760500.png
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910355760500.png
Local Mapping STOP
-----------here is the last KF in vScaleGravityKF------------

... Map scale updated ...

... Map NavState updated ...

Local Mapping RELEASE
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910405760500.png
grab frame : /home/rasp/CLionProjects/LearnVI_Drone/download_result/V2_03_difficult_extract/cam0/1413394910455760500.png
--------------------------- LocalBAPRVIDP ---------------------------

imrasp / LearnVI_Drone

Error : Lost after scale updated #6