Closed successkaisadadi closed 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.
Thanks for your reply, do you have any suggestions for now or what I need to try to solve this problem?
What OpenCV version are you using?
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.
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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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?