lukasvst
commented
11 months ago This is the line to watch out for :
got 0 images and 0 timestamps and 0 exposures.
It looks like it cannot find the images in the path you provided.
Open wrmhehe opened 11 months ago
lukasvst
commented
11 months ago This is the line to watch out for :
got 0 images and 0 timestamps and 0 exposures.
It looks like it cannot find the images in the path you provided.
bin/dmvio_dataset \
PHOTOMETRIC MODE WITH CALIBRATION!
=============== PRESET Settings: =============== DEFAULT settings:
original image resolution
Loading settings from yaml file: /home/wrm/桌面/dm-vio/configs/tumvi.yaml! Loading IMU parameter file at: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml Used T_cam_imu: -0.999525 0.0296153 -0.00852233 0.0472799 0.00750192 -0.0343974 -0.99938 -0.0474432 -0.0298901 -0.998969 0.0341589 -0.0682 0 0 0 1 Used noise values: 0.043 0.0011 0.224 0.0128 Settings: accelerometer_noise_density: 0.224 accelerometer_random_walk: 0.043 addVisualToCoarseGraphIfTrackingBad: 0 alwaysCanBreakIMU: 0 baToCoarseAccBiasVariance: 1000 baToCoarseGyrBiasVariance: 0.05 baToCoarsePoseVariance: 0.1 baToCoarseRotVariance: 1 baToCoarseVelVariance: 0.1 calib: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt dynamicWeightRMSEThresh: 8 end: 100000 files: /home/wrm/桌面/dataset/dso/cam0/images fixKeyframeDuringCoarseTracking: 1 gamma: /home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt generalScaleIntervalSize: 60 gravityDirectionFixZ: 1 gtFile: /home/wrm/桌面/dataset/dso/gt_imu.csv gyroscope_noise_density: 0.0128 gyroscope_random_walk: 0.0011 imuCalib: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml imuFile: /home/wrm/桌面/dataset/dso/imu.txt init_coarseScaleUncertaintyThresh: 1 init_conversionType: 0 init_disableVIOUntilFirstInit: 1 init_fixPoses: 1 init_initDSOParams: 1 init_lambdaLowerBound: 1e-16 init_maxNumPoses: 100 init_multipleBiases: 0 init_multithreadedInitDespiteNonRT: 0 init_onlyKFs: 1 init_pgba_conversionType: 0 init_pgba_delay: 100 init_pgba_prepareGraphAddDelValues: 0 init_pgba_prepareGraphAddFactors: 0 init_pgba_priorExtrinsicsRot: 0.01 init_pgba_priorExtrinsicsTrans: 0.1 init_pgba_priorGravityDirection: 0.4 init_pgba_priorGravityDirectionZ: 0.0001 init_pgba_reinitScaleUncertaintyThresh: 0.5 init_pgba_scaleUncertaintyThresh: 1 init_pgba_skipFirstKFs: 0 init_priorExtrinsicsRot: 0.01 init_priorExtrinsicsTrans: 0.1 init_priorGravityDirection: 0.4 init_priorGravityDirectionZ: 0.0001 init_priorRotSigma: 1e-05 init_priorTransSigma: 1e-05 init_requestFullResetErrorThreshold: -1 init_requestFullResetNormalizedErrorThreshold: -1 init_scalePriorAfterInit: 0 init_secondthreshGravdir: 1000 init_secondthreshScale: 1e+07 init_threshGravdir: 1000 init_threshScale: 1.02 init_transitionModel: 2 init_updatePoses: 1 integration_sigma: 0.316227 maxFrameEnergyThreshold: 5000 maxPreloadImages: 0 maxTimeBetweenInitFrames: 100000 numMeasurementsGravityInit: 40 preload: 0 priorExtrinsicsRot: 0.01 priorExtrinsicsTrans: 0.1 priorGravityDirection: 0.4 priorGravityDirectionZ: 0.0001 resultsPrefix: /home/wrm/桌面/dm-vio/result reverse: 0 sampleoutput: 0 setting_forceNoKFTranslationThresh: 0 setting_maxOptIterations: 6 setting_minFramesBetweenKeyframes: -0.5 setting_minIdepth: 0.02 setting_minOptIterations: 1 setting_optGravity: 1 setting_optIMUExtrinsics: 0 setting_optScaleBA: 1 setting_prior_bias: 0 setting_prior_velocity: 0 setting_scaleFixTH: 0 setting_solverMode: 2048 setting_transferCovToCoarse: 1 setting_visualOnlyAfterScaleFixing: 0 setting_weightDSOCoarse: 0.001 setting_weightDSOToGTSAM: 1.66667e-05 setting_weightZeroPriorDSOInitX: 0 setting_weightZeroPriorDSOInitY: 0 skipFirstKeyframe: 0 speed: 0 start: 2 transferCovToCoarseMultiplier: 1 updateDynamicWeightDuringOptimization: 1 use16Bit: 1 useScaleDiagonalHack: 0 vignette: /home/wrm/桌面/dataset/dso/cam0/vignette.png Reading Calibration from file /home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt ... found! Creating Equidistant undistorter Input resolution: 512 512 In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203 Out: 0.200000 0.200000 0.499000 0.499000 0.000000 Output resolution: 512 512
Rectified Kamera Matrix: 102.4 0 254.988 0 102.4 254.988 0 0 1
Reading Photometric Calibration from file /home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt Reading Vignette Image from /home/wrm/桌面/dataset/dso/cam0/vignette.png Successfully read photometric calibration! set timestamps and exposures to zero! set EXPOSURES to zero! got 0 images and 0 timestamps and 0 exposures.! ImageFolderReader: got 0 files in /home/wrm/桌面/dataset/dso/cam0/images! Skipping comment line in IMU data. IMU Id: 1520530962735370731 Found no start frame for IMU-data! using pyramid levels 0 to 3. coarsest resolution: 64 x 64! START PANGOLIN! Using setting_minFramesBetweenKeyframes=0.5 because of non-realtime mode. Switching to initializer state: CoarseIMUInit PixelSelector: Using block sizes: 16, 16 Loading gt data 段错误 (核心已转储)