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mbrossar / ai-imu-dr

AI-IMU Dead-Reckoning
MIT License
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Issue on the ai-imu-dr with the compiling and running python main file. #67

Closed EdernOllivier closed 3 years ago

EdernOllivier commented 3 years ago

Dear Martin, I have been installing the software to run the EKF, I had several errors, which are : ollivier@ollivier-ASUS-D300TA-S300MA:~/ai-imu-dr/src$ python3 main_kitti.py /home/ollivier/ai-imu-dr/src/train_torch_filter.py:127: SyntaxWarning: "is not" with a literal. Did you mean "!="? if len(rpe[0]) is not 0: /home/ollivier/ai-imu-dr/src/train_torch_filter.py:137: SyntaxWarning: "is not" with a literal. Did you mean "!="? if len(rpe[0]) is not 0: /home/ollivier/ai-imu-dr/src/train_torch_filter.py:159: SyntaxWarning: "is" with a literal. Did you mean "=="? if loss is -1 or torch.isnan(loss): /home/ollivier/ai-imu-dr/src/train_torch_filter.py:265: SyntaxWarning: "is" with a literal. Did you mean "=="? if len(idxs_0_bis) is 0: Traceback (most recent call last): File "main_kitti.py", line 482, in dataset = KITTIDataset(args) File "main_kitti.py", line 119, in init super(KITTIDataset, self).init(args) File "/home/ollivier/ai-imu-dr/src/dataset.py", line 53, in init self.get_datasets() File "/home/ollivier/ai-imu-dr/src/dataset.py", line 64, in get_datasets for dataset in os.listdir(self.path_data_save): FileNotFoundError: [Errno 2] Aucun fichier ou dossier de ce type: '../data'

and also : ollivier@ollivier-ASUS-D300TA-S300MA:~$ wget "https://cloud.mines-paristech.fr/index.php/s/XXkh5VanzDW08hD/download" --2021-10-10 12:38:42-- https://cloud.mines-paristech.fr/index.php/s/XXkh5VanzDW08hD/download Résolution de cloud.mines-paristech.fr (cloud.mines-paristech.fr)... 77.158.180.133 Connexion vers cloud.mines-paristech.fr (cloud.mines-paristech.fr)|77.158.180.133|:443... connecté. requête HTTP transmise, en attente de la réponse... 503 Service Unavailable 2021-10-10 12:38:42 ERREUR 503: Service Unavailable.

Tell me if it can be fixed.

Best regards, Edern Ollivier.

scott81321 commented 3 years ago

Hello Edern Ollivier

Those first few SyntaxWarnings can be explained via https://adamj.eu/tech/2020/01/21/why-does-python-3-8-syntaxwarning-for-is-literal/ The problem for the rest is that your data sub-directory is non-existent and/or empty. The datasets are obtained via the "wget" and I also get the wget error. It seems that Martin Brossard no longer has/had his University account which had these datasets. There is a complaint or two on that issue in another thread for which I also responded. If you manage to make progress with Martin's program, please let me know. As for the python3 issues, it could be an issue of version of python3 or the system you are using. Are you using linux ubuntu?

EdernOllivier commented 3 years ago

Dear Scott, thank to you, I dont have made any progress with the Martin's program and I am using Linux Ubuntu to program in C. Best regards, Edern Ollivier.

scott81321 commented 3 years ago

If you are not using Martin's program, what are you using?

EdernOllivier commented 3 years ago

Dear Scott, I am using a simple Kalman filtering technique supported by an Aduino Due board and libraries in C++, please check the source in my github at "https://github.com/EdernOllivier/GeographicalRecalibrationDue", its payload is minimal to get the best values said to be optimal in the space of the geography and timed buffered of the IMU/GPS recalibration. Best regards, Edern Ollivier.

scott81321 commented 3 years ago

Do you know of an alternative and/or competitor to Brossard's program. I still cannot get a hold of him. I need a (free) dead reckoning program that tales IMU accel + gyrp and GPS (lat,long and alt) by which to predict the path of a moving vehicle when it e.g. goes into a tunnel and GPS is no longer active? Does your program do the job? I am not using an Aduino Due Board. Mind you, I gather if we had the required inputs to your program, I'd be ok? Question: will your program still predict the path well enough when a vehicle enters tunnel and there is no more GPS? (GPS outage)

EdernOllivier commented 3 years ago

I dont know an alternative for this program, maybe with a research center in France ?

EdernOllivier commented 3 years ago

Actually the team of researchers of them has been doing a lot of maths for the fusion algorithm, and I am deeply impressed by the tool of the Lie Algebra. Maybe that something is going to be discovered soon.