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MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

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Data set construction and format

Cameron-zgl opened this issue · comments

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Description:
Dear kimera Team,

I hope this message finds you well. I am an undergraduate student, and my team and I are in the process of replicating your KImera project as part of our FYP. We have encountered some issues and would appreciate your assistance.
I would like to seek some assistance regarding the kimera-vio project. Firstly, I want to express my appreciation for your outstanding work in making the replication of the V1_01_easy dataset a straightforward and successful process.

However, I have encountered some issues when attempting to run other datasets provided by the authors, such as V2_01_easy. Specifically, I can successfully run V1_01_easy, but I face difficulties with other datasets. It seems to be related to image sizes, although I have inspected both datasets and found that their formats and image sizes are identical. I am unsure why this issue is arising and would like to inquire if you have any guidance or instructions on how to correctly run the other datasets.

Additionally, I would like to learn how to configure my own rosbag files to run kimera-semantic or set up the euroc dataset for kimera-vio. Are there any tutorials or documentation available for reference on this matter?

Thank you very much for your time and assistance. I look forward to your response.

Sincerely,
Cameron

Command:

bash ./scripts/stereoVIOEuroc.bash -p "/home/cameron-zhu/Kimera-VIO/scripts/euroc/V2_01_easy"

Console output:


I0919 15:20:00.972945  2408 EurocDataProvider.cpp:126] Running dataset between frame 50 and frame 3682
W0919 15:20:00.973637  2404 NonMaximumSuppression.cpp:42] No keypoints for non-max suppression...
W0919 15:20:00.973711  2404 FeatureDetector.cpp:154] No corners extracted for frame with id: 51
F0919 15:20:00.973794  2404 UndistorterRectifier.cpp:112] Check failed: map_x_.size == img.size (480 x 752 vs. )

Additional files:
Please attach all the files needed to reproduce the error.
Dataset：
https://drive.google.com/drive/folders/1_kwqHojvBusHxilcclqXh6haxelhJW0O

Please give also the following information:

  • Kimera-Vio branch, tag or commit used
  • GTSAM version used: 4.1.1
  • OpenGV version used: 3.1.3
  • OpenCV version used: 3.3.1
  • Operating system and version (e.g. Ubuntu 16.04 or Windows 10): 18.04
  • Did you change the source code? (yes / no): no