Canada example for Visual navigation is not working

[rodralez]

The navego_example_canada_data.m has been tested and is not working.

If FusionCase = "inertial_gnss" option is selected, the system diverge.

If FusionCase = "inertial_visual_gnss", the following error arise:

Error using horzcat
Dimensions of arrays being concatenated are not consistent.

Error in ins_visual_gnss (line 499)
            kf.z = [zv' zp']';

Error in navego_example_canada_data (line 62)
        nav_e = ins_visual_gnss(imu_planetary,gnss_planetary,visual_planetary,'dcm');

Please, download the current branch visual-inertial-gnss and work using the files from these folders. Avoid using code located at other folders.

[rodralez]

Since .txt files were not provided but the .mat did, navego_example_canada_data.m script was modified to run using the .mat files only. And these .matdata files were uploaded at folder NaveGo/examples/planetary-data/canada-planetary-data/data/ in order the Canada visual example keeps running.

[johanndiep]

Thanks Rodrigo for the input. I realized I forgot to add the .txt files to my local repository, and since I had .mat in .gitignore, the finished parsed .mat files were not pushed to origin visual-inertial-branch.

Your latest push to origin visual-inertial-branch comment out the need for the parsing process. I will add them back in since I find it important for future users how to translate their dataset into the required format needed for NaveGo.

[rodralez]

Johan, yes, please, remove all my changes to the original script if .txt are added.

On the other hand, please check if the error in ins_visual_gnss (line 499) keeps showing.

[johanndiep]

I assume the error should be gone once the required input files are provided.

Note: as of currently, I am not able to test it since I do not have access to Matlab anymore. However, with the provided .txt files, the results should be similar to the results displayed in the following video: https://www.youtube.com/watch?v=sPnPMBs1gSU&t=135s

[rodralez]

Note: as of currently, I am not able to test it since I do not have access to Matlab anymore.

If you don't have access to MATLAB, this is a problem. Maybe you can try Octave instead (https://www.gnu.org/software/octave/download).

[johanndiep]

That should not be a problem, I was able to run the code couple months ago to produce the results for the conference, since then I have not changed anything. If the paths are correctly set, the same results should come up again. In the worst case, we can do a screen sharing session and we can check possible bugs.

I updated the origin visual-inertial-branch with the new files and the changes.