zju3dv / eval-vislam Goto Github PK

就是说需要提前对图像进行标定吗

Could you please tell me that which app you're using for collecting IMU and Camera data ? Because I want to collect some data by my own iphone but I could not find an app for it.

Is it possible to use this tool to evaluate the results of the euroc dataset?

Hi there!

First of all congratulations on your whole work (dataset included). I just came across it and seems huge!

I wanted to ask if your calibration parameters were available because I couldn't find them anywhere.
I am talking about camera intrinsic, gyro and acc noise and walk and the camera-IMU transformation.
Since you guys probably performed a fine calibration on those two common smartphones, such infos could be beneficial for some of us.

Thanks!

In relocalization.cpp, there is:

auto shutter_times = read_shutter(dataset_root + "/shutter_time.csv");

But I don't find any file named shutter_time.csv in the dataset.

When I run ./relocalizaiton, I just get nothing.

hi, about the script of eval-vislam input seem like Twc(camera pose)
but I found gt from a folder of groundtruth seem like Twb(imu pose)

if using eval-vislam tool, what should I use which coordinate as input

when I try to run my result,it seems to have some issues:
I run:python3 ismar-score.py --round 0 --is_vislam 0 --trajectory_base_dir ~/the/MY-SLAM/ --gt_base_dir ~/the/Data
and the MY-SLAM/ is just trajectory file folders
and this is the error(specific):
Traceback (most recent call last):
File "ismar-score.py", line 72, in
trajectory_base_dir + '/' + seq_name)
File "ismar-score.py", line 39, in select_round
return ape_list.index(np.percentile(ape_list, 50, interpolation='nearest'))
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/lib/function_base.py", line 3707, in percentile
a, q, axis, out, overwrite_input, interpolation, keepdims)
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/lib/function_base.py", line 3826, in _quantile_unchecked
interpolation=interpolation)
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/lib/function_base.py", line 3405, in _ureduce
r = func(a, **kwargs)
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/lib/function_base.py", line 3908, in _quantile_ureduce_func
r = take(ap, indices, axis=axis, out=out)
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/core/fromnumeric.py", line 189, in take
return _wrapfunc(a, 'take', indices, axis=axis, out=out, mode=mode)
File "/home/cgnerds/anaconda3/envs/demo6/lib/python3.7/site-packages/numpy/core/fromnumeric.py", line 56, in _wrapfunc
return getattr(obj, method)(*args, **kwds)
IndexError: cannot do a non-empty take from an empty axes.

I need some help,where is wrong?

Hi, seems to be some problem while trying to run the eval code, when i read the source code, it seems to be some directory issues. I am using the MY-SLAM examples.

你好, 操作代码时遇到一些问题, 请协助.

Hi, excellent dataset!
My question is that where I can find the rolling shutter parameters corresponding to the "rolling_shutter_tr: rolling shutter read out time" in VINS_Mono? So far the sensor.yaml under "camera" folder doesn't contain this parameter.

Thanks!

你好，非常感谢你们的工作。请问下这个工程怎么编译？我新建build文件，用cmake ..编译，显示错误。我的cmake版本是3.5.1 ，是不是我的版本不对？
CMake Error at CMakeLists.txt:7 (target_compile_features):
Cannot specify compile features for imported target "eigen3-dep".

CMake Error at CMakeLists.txt:8 (target_link_libraries):
Cannot specify link libraries for target "eigen3-dep" which is not built by
this project.