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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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how to use my .bag data set for mono camera #439

Open hessaHamad opened 2 months ago

hessaHamad commented 2 months ago

Hi,

am trying to use my own dataset in . bag file, contains IMU and raw images of mono cam. I followed patrick's youtube video and all my config files are set as shown there, The steps I tried:

Term 0

roscore

Term 1

rviz -d src/open_vins/ov_msckf/launch/display.rviz

Term 2

rosbag play mydataset.bag

Term 3

(no error but keep waiting for the data, it might be a topic issue) roslaunch ov_msckf subscribe.launch config:=gp dolivetraj:=true max_cameras:=1 dataset:=Test03_newcalib

and (error as shown) roslaunch ov_msckf subscribe.launch config_path:=/home/gp/workspace/catkin_ws_ov/src/open_vins/config/gp/estimator_config.yaml dataset:=Test03_newcalib bag:=Test03_newcalib.bag

Screenshot from 2024-04-29 14-59-22 Screenshot from 2024-04-29 15-04-36

VivekMangeUD commented 1 month ago

Hey

I see that you are using the dataset parameter in the launch file, To use that feature you need to set the below param as true.

arg name="dobag"       default="false"  <!-- if we should play back the bag -->

Also, The end of the launch file seems correct, Openvins is waiting for the rostopics imu and video_source/raw. Can you verify they are being published by the bag file. Can you share the snippet of the Rviz window as well.