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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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Can I start get metric_pose earlier? #25

Open neliudochka opened 2 months ago

neliudochka commented 2 months ago

I've collected a dataset with a set of rosbags. Each rosbag starts with an apriltag detection. The problem is that I it takes too long for a metric_pose to be published and the apriltag detection isn't performed. Is it possible to change the time that takes metric_pose to be initialized?

P.S. 1) Usage of the unscaled_pose is not an option. 2) I can't rerecord my dataset.

Thanks in advance!

lukasvst commented 4 weeks ago

You could try increasing the uncertainty thresholds a bit: init_coarseScaleUncertaintyThresh and init_pgba_scaleUncertaintyThresh But in general you will need sufficient motion so that your scale becomes observable, before the metric pose can be published.