如何构建双目惯导模式？

[zlthaha]

大佬你好，我在尝试学习您，自己构建一个双目惯导的动态SLAM，但我依然是一个初学者，遇到一些问题想要请教您。我看到您说跑任何数据集前需要先run w/static来初始化gpu，我发现不这么做的话其他数据集无法运行，这是正常的吗？双目惯导模式需要怎么构建类似static的数据集呢，只需要静止就可以吗？我运行双目惯导时出现下列问题，是不是因为没有static的数据集？

• Camera2 Lapping: 0, 511
• fps: 20
• color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 4.0439949035644531

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2000000476837158
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc):
[-0.99952501, 0.0075019184, -0.029890131, 0.045574836;
0.029615344, -0.03439736, -0.99896932, -0.071161799;
-0.008522328, -0.99938005, 0.034158852, -0.044681255;
0, 0, 0, 1]

IMU frequency: 200 Hz
IMU gyro noise: 0.00015999999595806003 rad/s/sqrt(Hz)
IMU gyro walk: 2.2000000171829015e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.00279999990016222 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.00085999997099861503 m/s^3/sqrt(Hz)
Waiting for action server to start.
not IMU meas
trracking time: inf
not IMU meas
trracking time: 1.664898
Gtk-Message: 08:28:55.195: Failed to load module "canberra-gtk-module"
Gtk-Message: 08:28:55.198: Failed to load module "canberra-gtk-module"
First KF:0; Map init KF:0
New Map created with 228 points
trracking time: 2.3544099999999997
mCurrentFrame.mTimeStamp 1520531829.4011548
mnMatchesInliers 356
trracking time: 11.992380333333335
mCurrentFrame.mTimeStamp 1520531829.4511571
mnMatchesInliers 412
trracking time: 18.8220025
mCurrentFrame.mTimeStamp 1520531829.501158
mnMatchesInliers 441
trracking time: 21.272402
mCurrentFrame.mTimeStamp 1520531829.5511599
mnMatchesInliers 439
trracking time: 22.022585000000003
mCurrentFrame.mTimeStamp 1520531829.601161
mnMatchesInliers 434
trracking time: 22.764910857142858
mCurrentFrame.mTimeStamp 1520531829.6511629
mnMatchesInliers 553
trracking time: 24.132941375000001
mCurrentFrame.mTimeStamp 1520531829.701164
mnMatchesInliers 558
trracking time: 26.424046666666669
mCurrentFrame.mTimeStamp 1520531829.7511659
mnMatchesInliers 567
trracking time: 26.528253100000001
mCurrentFrame.mTimeStamp 1520531829.8011689
mnMatchesInliers 565
trracking time: 26.091551363636366
mCurrentFrame.mTimeStamp 1520531829.8511722
mnMatchesInliers 578

---

Sending request: 0
trracking time: 25.93858941666667
Request ID: 0
[ INFO] [1651048136.168864343]: Action finished: ABORTED
[rds_slam_tum-1] process has died [pid 6067, exit code -11, cmd /root/catkin_ws/devel/lib/rds_slam/Dynamic_STEREO /root/catkin_ws/src/SLAM/Vocabulary/ORBvoc.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_512.yaml /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam0/data /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam1/data /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt __name:=rds_slam_tum __log:=/root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1.log].
log file: /root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done