You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
@nathanhhughes Hello! Thanks for this work. But I find the result of running on V1_01_easy.bag is abnormal.
Problem reproduce:
I download the latest version of Kimera-VIO and Kimera-VIO-ROS. I fix the issue with GTSAM version using e5866799dff48239573cdd84964180867e50edd2
I do not change any param in launch file or yaml file. I just directly run the code to see it performance.
@nathanhhughes Hello! Thanks for this work. But I find the result of running on V1_01_easy.bag is abnormal.
Problem reproduce:
I download the latest version of Kimera-VIO and Kimera-VIO-ROS. I fix the issue with GTSAM version using
e5866799dff48239573cdd84964180867e50edd2
I do not change any param in launch file or yaml file. I just directly run the code to see it performance.
I run the launch in one terminal
and in another terminal
in the third terminal I open the Rviz
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz
The trajectory in Rviz is drifting like below:
![Screenshot from 2023-10-29 23-18-53](https://private-user-images.githubusercontent.com/42128681/278880034-62e37863-af1c-4616-a60f-bffb5209b1d4.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQwNTcwMjcsIm5iZiI6MTcyNDA1NjcyNywicGF0aCI6Ii80MjEyODY4MS8yNzg4ODAwMzQtNjJlMzc4NjMtYWYxYy00NjE2LWE2MGYtYmZmYjUyMDliMWQ0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE5VDA4Mzg0N1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWYxN2RjYjg3ZWY4NTc3ZGUwN2ZhMWU4YTZlMWRkN2NkMjgwZTM4YTM0YThlODJhMmRhNzkwMWEzYThhMTNlMTcmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.NvB0JG7O3J31MJss45lYVYV6xwKTBW9Td_CulLkb69c)
The output of terminal is also abnormal
Help
I don't know what parameter should be changed. Can anyone give me some suggestions?
The text was updated successfully, but these errors were encountered: