search

lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
1.07k stars 187 forks source link

What is gtFile ? And what is the different between gtFile and imuFile? #4

Closed HongShaojiang closed 2 years ago

HongShaojiang commented 2 years ago

Hi, I want to run dm-vio on my dataset with imu, and I got Aborted(core dumped), I dont know the different between gtFile and imuFile, could you explain this two file. Tks.

hellovuong commented 2 years ago

gtFile is the ground trutth for your datasets, usually the poses from motion capture, or other reliable SLAM, etc. imuFile is simply the imu datafile.

lukasvst commented 2 years ago

Yes, the explanation of @hellovuong is correct. While gtFile is optional, imuFile is required (unless you pass useimu=0, which will disable the IMU for the system and can be used for debugging).

HongShaojiang commented 2 years ago

Thank you very much!