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lukasvst / dm-vio-ros

ROS wrapper for DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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is useimu working? #12

Closed rbtchun3 closed 1 year ago

rbtchun3 commented 1 year ago

Hi, I got it running with image and imu.

but it didn't run when I set useimu=0 I did this

rosrun dmvio_ros node calib=/home/chun/catkin_ws/src/burro/packages/third-party/dm-vio/configs/camera_rl.txt
imuCalib=/home/chun/catkin_ws/src/burro/packages/third-party/dm-vio/configs/tumvi_calib/camchain_rl.yaml settingsFile=/home/chun/catkin_ws/src/burro/packages/third-party/dm-vio/configs/euroc.yaml mode=1 nogui=0 preset=1 useimu=0 quiet=0 init_requestFullResetNormalizedErrorThreshold=0.8 init_pgba_skipFirstKFs=1 cam0/image_raw:=/camera2/infra1/image_rect_raw
lukasvst commented 1 year ago

Yes, it works but you need to still pass the IMU topic, even when using useimu=0

In the ros version, the image-only mode is only there for debugging, and it still needs to receive IMU data, but it won't use them.

rbtchun3 commented 1 year ago

Ah! Thanks!