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zju3dv / rnin-vio

Apache License 2.0
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How to test NIN module separately #9

Open CanCanZeng opened 1 year ago

CanCanZeng commented 1 year ago

Hi, thank you for openning this great project! The fused pose is very accurate, very impressive! Now I want to test the NIN module separately, how can I do that? I find that you used vio output when loading imu data, including remove bais, and align the imu coordinate with gravity using the output pose of vio. Is it possible to handle raw imu data?

CanCanZeng commented 1 year ago

Sorry for my mistake, this project is just what I need. I run my data successfully, the trajectory looks rather good. The only problem is that the scale is not very accurate, do you have any idea how this come?