why would this happened? I set the right PATH, but it still didn't work.

[wrmhehe]

bin/dmvio_dataset \

files=/home/wrm/桌面/dataset/dso/cam0/images \
vignette=/home/wrm/桌面/dataset/dso/cam0/vignette.png \
imuFile=/home/wrm/桌面/dataset/dso/imu.txt \
gtFile=/home/wrm/桌面/dataset/dso/gt_imu.csv \
calib=/home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt \
gamma=/home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt \
imuCalib=/home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml \
mode=0 \
use16Bit=1 \
preset=0 \
nogui=0 \
resultsPrefix=/home/wrm/桌面/dm-vio/result \
settingsFile=/home/wrm/桌面/dm-vio/configs/tumvi.yaml \
start=2

PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: =============== DEFAULT settings:

• no real-time enforcing
• 2000 active points
• 5-7 active frames
• 1-6 LM iteration each KF

• 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)

[lukasvst]

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.