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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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PreintegratedImuMeasurements::integrateMeasurement: dt <=0 #60

Open weiyp0725 opened 5 months ago

weiyp0725 commented 5 months ago

Hi,Lukas.I met a problem when run my own dataset inmono-inertial mode.The error message is: lvl 3, it 1 (l=0.005000 / 1.000000) ACCEPT: 18.044->15.456 (1883 -> 1881) (|inc| = 0.005397)! -0.279664 0.687658 -0.495897 0.00830964 0.00342816 0.0019288 AFF -6.03289 16.3763 (rel 0.964849 0.856269) lvl 3, it 2 (l=0.002500 / 1.000000) ACCEPT: 15.456->15.432 (1881 -> 1881) (|inc| = 0.000596)! -0.279664 0.687659 -0.495895 0.0083109 0.00342843 0.00192844 AFF -6.03874 16.4707 (rel 0.95922 1.04122) inc too small, break! lvl2, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->33.074 (0 -> 3166) (|inc| = 0.000000)! -0.279664 0.687659 -0.495895 0.0083109 0.00342843 0.00192844 AFF -6.03874 16.4707 (rel 0.95922 1.04122) lvl 2, it 0 (l=0.010000 / 1.000000) ACCEPT: 33.074->32.862 (3166 -> 3166) (|inc| = 0.001596)! -0.279664 0.687658 -0.495895 0.00831093 0.00342843 0.00192842 AFF -6.05469 16.5003 (rel 0.944039 1.31494) lvl 2, it 1 (l=0.005000 / 1.000000) ACCEPT: 32.862->32.852 (3166 -> 3166) (|inc| = 0.000349)! -0.279664 0.687658 -0.495896 0.00831097 0.00342842 0.00192838 AFF -6.05818 16.5127 (rel 0.940749 1.38031) inc too small, break! lvl1, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->45.404 (0 -> 3865) (|inc| = 0.000000)! -0.279664 0.687658 -0.495896 0.00831097 0.00342842 0.00192838 AFF -6.05818 16.5127 (rel 0.940749 1.38031) lvl 1, it 0 (l=0.010000 / 1.000000) ACCEPT: 45.404->45.381 (3865 -> 3865) (|inc| = 0.000144)! -0.279664 0.687657 -0.495896 0.008311 0.00342842 0.00192837 AFF -6.0583 16.3707 (rel 0.940641 1.24001) inc too small, break! lvl0, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->62.169 (0 -> 4099) (|inc| = 0.000000)! -0.279664 0.687657 -0.495896 0.008311 0.00342842 0.00192837 AFF -6.0583 16.3707 (rel 0.940641 1.24001) lvl 0, it 0 (l=0.010000 / 1.000000) ACCEPT: 62.169->62.154 (4099 -> 4099) (|inc| = 0.000323)! -0.279663 0.687656 -0.495896 0.00831104 0.00342842 0.00192835 AFF -6.06147 16.3266 (rel 0.937659 1.24394) inc too small, break! Coarse Tracker tracked ab = -6.061473 16.326623 (exp 1.000000). Res 7.883805! Frame history size: 447 Creating a non-keyframe: 446 Current mapping id: 446 create KF after: 444 lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->129.252 (0 -> 1906) (|inc| = 0.000000)! -0.419735 1.023 -0.762696 -0.0198857 -0.00523104 0.00740378 AFF -6.06147 16.3266 (rel 0.937659 1.24394) lvl 3, it 0 (l=0.010000 / 1.000000) ACCEPT: 129.252->33.808 (1906 -> 1879) (|inc| = 0.031543)! -0.418544 1.01384 -0.775382 0.0120787 0.00504179 0.00301834 AFF -5.95168 14.402 (rel 1.04647 -2.43098) lvl 3, it 1 (l=0.005000 / 1.000000) ACCEPT: 33.808->27.671 (1879 -> 1876) (|inc| = 0.008622)! -0.418533 1.01377 -0.775469 0.012397 0.00514399 0.00297454 AFF -6.03553 16.3623 (rel 0.9623 0.883237) lvl 3, it 2 (l=0.002500 / 1.000000) ACCEPT: 27.671->27.429 (1876 -> 1875) (|inc| = 0.001933)! -0.418532 1.01377 -0.775469 0.0123987 0.00514448 0.00297423 AFF -6.05471 16.5943 (rel 0.944021 1.40932) lvl 3, it 3 (l=0.001250 / 1.000000) ACCEPT: 27.429->27.423 (1875 -> 1875) (|inc| = 0.000271)! -0.418532 1.01377 -0.775468 0.0123991 0.00514447 0.00297409 AFF -6.05737 16.6116 (rel 0.941511 1.4669) inc too small, break! lvl2, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->48.865 (0 -> 3154) (|inc| = 0.000000)! -0.418532 1.01377 -0.775468 0.0123991 0.00514447 0.00297409 AFF -6.05737 16.6116 (rel 0.941511 1.4669) lvl 2, it 0 (l=0.010000 / 1.000000) ACCEPT: 48.865->48.856 (3154 -> 3154) (|inc| = 0.000101)! -0.418532 1.01377 -0.775469 0.0123991 0.00514446 0.00297408 AFF -6.05776 16.5221 (rel 0.941143 1.38336) inc too small, break! lvl1, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->62.135 (0 -> 3836) (|inc| = 0.000000)! -0.418532 1.01377 -0.775469 0.0123991 0.00514446 0.00297408 AFF -6.05776 16.5221 (rel 0.941143 1.38336) lvl 1, it 0 (l=0.010000 / 1.000000) ACCEPT: 62.135->62.107 (3836 -> 3836) (|inc| = 0.000394)! -0.418532 1.01377 -0.775469 0.0123992 0.00514447 0.00297406 AFF -6.06157 16.4282 (rel 0.937565 1.34706) inc too small, break! lvl0, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->76.258 (0 -> 4076) (|inc| = 0.000000)! -0.418532 1.01377 -0.775469 0.0123992 0.00514447 0.00297406 AFF -6.06157 16.4282 (rel 0.937565 1.34706) lvl 0, it 0 (l=0.010000 / 1.000000) ACCEPT: 76.258->76.200 (4076 -> 4076) (|inc| = 0.000610)! -0.418532 1.01377 -0.775469 0.0123992 0.00514447 0.00297405 AFF -6.06755 16.3113 (rel 0.93198 1.31996) inc too small, break! Coarse Tracker tracked ab = -6.067548 16.311304 (exp 1.000000). Res 8.729262! Frame history size: 448 Creating a non-keyframe: 447 Current mapping id: 447 create KF after: 444 terminate called after throwing an instance of 'std::runtime_error' what(): PreintegratedImuMeasurements::integrateMeasurement: dt <=0

The command is ./dmvio_dataset files=path_to_images imuFile=path_to_imu.txt calib=path_to_camera.txt imuCalib=path_to_camchain.yaml mode=1 use16Bit=0 preset=1 nogui=0 settingsFile=.path_to_settingsFile.yaml start=2 Could you please tell me the reason? Thanks!