VIOManager does not initialize when running with EuRoC.

[hungdche]

HI. So I was trying to run open_vins with the EuRoC dataset and grab the state as it is being generated. Here is the rough code of it

ov_core::ImuData imu_datum = {imu_timestamp, angular_v.cast<double>(), linear_a.cast<double>()};
open_vins_estimator.feed_measurement_imu(imu_datum);

cv::Mat white_mask(752, 480, CV_8UC3, cv::Scalar(255,255,255));
ov_core::CameraData cam_datum;
cam_datum.timestamp = cam_timestamp;
cam_datum.sensor_ids.push_back(0);
cam_datum.sensor_ids.push_back(1);
cam_datum.images.push_back(cam_0);
cam_datum.images.push_back(cam_1);
cam_datum.masks.push_back(white_mask);
cam_datum.masks.push_back(white_mask);
open_vins_estimator.feed_measurement_camera(cam_datum);

state = open_vins_estimator.get_state(); // does not get updated

The config file is the default one provided by open_vins (in config/euroc_mav/estimator_config.yaml). I have verified that the timestamps, imu data, and camera images are valid. I would really appreciate any help. Thanks!

[goldbattle]

I recommend you refer to the ros1_serial_msckf.cpp and how data is passed and processed. What is reported to console when you run your code? You can change the log level with this in your main file (assuming it isn't over written someplace else):

ov_core::Printer::setPrintLevel("ALL");

I believe your mask is also incorrect see what we set as the default: https://github.com/rpng/open_vins/blob/8600ceeadce43297192d328653f016254e4594b5/ov_msckf/src/core/VioManagerOptions.h#L283 https://github.com/rpng/open_vins/blob/8600ceeadce43297192d328653f016254e4594b5/ov_msckf/src/ros/ROS1Visualizer.cpp#L458-L464

[hungdche]

This is what printed out to the console:

For the masks, I want the entire camera image, so I set use_mask to false. And I load in the white images as masks just in case.

The portion of the code above is called everytime there is a valid imu or camera data.

[hungdche]

The error is indeed because of the mask. Thanks for helping!