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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Running the TUM-VI dataset in stereo mode has large angular errors during evaluation #246

Closed successkaisadadi closed 2 years ago

successkaisadadi commented 2 years ago

When I used run_ros_tumvi.sh to run the TUM-VI dataset, I found that the angle error reached 3-5deg. In other papers citing OpenVINS, the angle error is less than 2deg. Is there a similar solution?

goldbattle commented 2 years ago

I have not done an evaluation in a while. Will try to take a look as soon as I get time, thanks for opening an issue.

successkaisadadi commented 2 years ago

Thanks for your reply, do you have any suggestions for now or what I need to try to solve this problem?

goldbattle commented 2 years ago

What OpenCV version are you using?

goldbattle commented 2 years ago

It looks like this is an issue with accidently deleting IMU readings. Not sure how why I used the original logic of the oldest feature take. If there is a drop in tracking (as in the beginning of the TUM datasets), all IMU readings will be deleted / dropped. I will push a fix ASAP but you can change these lines: https://github.com/rpng/open_vins/blob/bf0ada9f4f6d671f472616ab00e5df3bd6d6ce83/ov_msckf/src/core/VioManager.h#L80-L85

To the following:

  // The oldest time we need IMU with is the last clone
  // We shouldn't really need the whole window, but if we go backwards in time we will
  double oldest_time = state->margtimestep();
  if (oldest_time > state->_timestamp) {
    oldest_time = -1;
  }

Let me know if this fixes the issue for you.

goldbattle commented 1 year ago

I am not sure, as I have not looked into the problem and there are not many details. I guess one large change is that we have added dynamic initialization in v2.6, which in the past wouldn't have been used.

On Sun, May 8, 2022 at 3:56 AM gaoyunqi @.***> wrote:

Thanks for your reply, do you have any suggestions for now or what I need to try to solve this problem?

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