hkust-aerial-robotics / gvins-dataset Goto Github PK

Here is my modification:

#define INPUT_BAG_FILEPATH "/home/XXXX/GVINS/sports_field/sports_field.bag"
#define OUTPUT_RINEX_FILEPATH "/home/XXXX/GVINS/sports_field/"

and it reports error:

rosrun gvins_dataset_toolkit bag2rinex
段错误 (核心已转储)

Hi,Can you tell me what the distortion model of this data set is?

Thank you very much for sharing both GVINS and this dataset.

Evaluating VINS-Fusion as visual-inertial (1 camera + 1 IMU) and global optimization with GNSS processed with RTKLIB, for Sports Field bag, estimations beyond 600 meters start to oscillate severely, as if the transformation WGPS_T_WVIO returned suddenly to identity matrix and then it is inmediatly corrected.

I suspect this is due to not limiting the size of the optimization problem in the global optimization node, as the version I am using takes into account every available result from VIO and GNSS (i.e. optimize() in globalOpt.cpp includes the whole localPoseMap). I have checked this here https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/global_fusion/src/globalOpt.cpp.

The time spent in global optimization increases over time, leading to vins_node's death after the bag has been played for 18 minutes 20 secs.: feeding the global optimization node with the standalone version of VINS-Mono succeeds estimating the whole trayectory, yet the huge oscillations remain (figure above shows the global optimization time using VINS-Mono as VIO).

I am not completely sure I have not modified anything sensitive in the VINS-Fusion code, is this issue usual? I believe the problem resides in the global optimization not being limited.

Thank you for your time.

Can you provide the relative position parameter between GPS receiver and IMU ?

I tried to use the gvins-dataset toolbox to convert GNSS raw data to RINEX file format, but there was no prompt Bag file failed to open. I don't know why? Similarly, saving RTK solution as CSV file also failed. It is worth noting that my file uses the data source provided in gvins

这是我的输入信息

Thank you very much for your work. Can you provide the ROS code for recording Ublox GPS raw data?

Thank you very much for making the dataset publicly available. However, I noticed that in the rosbag, the covariance matrix of the RTK positioning results is all zeros.
Is this the original solution, or is it not supposed to be like this? If possible, could you provide the rtk
covariance matrix?

You mentioned that in the README：

1. The GNSS receiver reports the time information of next PPS signal. In our system the reporting frequency is set to 1Hz.
2. The PPS signal from the GNSS receiver is used to trigger the external interrupt of VI-Sensor. In our system the frequency of PPS is set to 0.2 Hz.
   Did you set that by u-center as below？
   
   But I don't know how to set the frequency of PPS signal to 0.2 Hz. And how to set the reporting frequency to 1Hz?

I apply the sport_filled.bag for VINS-mono .but when I requeie roslaunch vins_estimator euroc.launch the teminal showed

I want to ask this .bag file whether could be apply for vins-mono?

Would you mind if I'm asking CSV files converted from urban _driving.bag?
Actually I tried to convert it into CSV and most of data are converted well, however, raw measurements, such as range, doppler and etc, have problems with missing and wrong some data.
Please, let me ask a correct data including raw measurements.
Thanks in advance.

Hi all,
I'm not particularly familiar with the MEI camera model, so I had a look at the paper first.

It seems the matrix K depends on two parameters that are not provided by the yaml: alpha (required to get the skew) and eta, which depends on the parametric curve used.

What assumptions have been made for alpha and eta?
Can in first approximation assume alpha = 0 and eta = -1?

Thanks,
Marco.

Can the lever arm parameters between GNSS antenna and IMU be given?

could you please upload the urban driving data?

@shaozu thank you for making these datasets available to the public.
We would like to run code on your dataset that supports only the pinhole camera model, not the Mei model. Do you think you could provide a calibration dataset such that we can run kalibr and use the model that we support? Or maybe you have calibrated a pinhole camera model yourself already or it would be very easy for you to do?