lukasvst / dm-vio Goto Github PK

make -j8 gives the following errors :

In file included from /home/kurosh/repos/dm-vio/src/dso/util/NumType.h:29, from /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Output3DWrapper.h:33, from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:36: /home/kurosh/repos/dm-vio/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here 35 | typedef SE3Group<double> SE3 EIGEN_DEPRECATED; | ^~~ In file included from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:54: /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:85:48: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations] 85 | void addGTCamPose(const Sophus::SE3& gtPose); | ^ In file included from /home/kurosh/repos/dm-vio/src/dso/util/NumType.h:29, from /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Output3DWrapper.h:33, from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:36: /home/kurosh/repos/dm-vio/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here 35 | typedef SE3Group<double> SE3 EIGEN_DEPRECATED; | ^~~ [ 98%] Linking CXX executable bin/dmvio_dataset /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in functionboost::thread_exception::thread_exception(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o:/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references to boost::system::system_category()' follow
/usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in function _GLOBAL__sub_I__Z6gtFileB5cxx11': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function boost::condition_error::condition_error(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:84: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:84: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o):/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references to boost::system::system_category()' follow
/usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function _GLOBAL__sub_I__ZN3dso12FrameHessian15instanceCounterE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(HessianBlocks.cpp.o): in function _GLOBAL__sub_I__ZN3dso12PointHessianC2EPKNS_13ImmaturePointEPNS_12CalibHessianE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(HessianBlocks.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(EnergyFunctional.cpp.o): in function _GLOBAL__sub_I__ZN3dso15EFAdjointsValidE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(EnergyFunctional.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctionalStructs.cpp.o): in function _GLOBAL__sub_I__ZN3dso10EFResidual9takeDataFEv':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctionalStructs.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(GravityInitializer.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio18GravityInitializerC2EiRKNS_14IMUCalibrationE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(GravityInitializer.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUSettings.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14IMUCalibrationC2Ev':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUSettings.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(BAGTSAMIntegration.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio18BAGTSAMIntegrationC2ESt10unique_ptrINS_8BAGraphsESt14default_deleteIS2_EES1_INS_18PoseTransformationES3_IS6_EERKNS_24GTSAMIntegrationSettingsEPN3dso12CalibHessianE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(BAGTSAMIntegration.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMULogic.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14CoarseIMULogicC2ESt10unique_ptrINS_18PoseTransformationESt14default_deleteIS2_EEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_11IMUSettingsE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMULogic.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(BAIMULogic.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio10BAIMULogicC2EPNS_24PreintegrationProviderBAEPNS_18BAGTSAMIntegrationERKNS_14IMUCalibrationERNS_11IMUSettingsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(BAIMULogic.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(Marginalization.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14marginalizeOutERKN5gtsam20NonlinearFactorGraphERKNS0_6ValuesERKSt6vectorImN3tbb13tbb_allocatorImEEESt8functionIFvRKNS0_7FastSetImEEEE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(Marginalization.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(PoseTransformationIMU.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio17TransformDSOToIMUC2ERKN5gtsam5Pose3ESt10shared_ptrIbES6_S6_bi': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(PoseTransformationIMU.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializer.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14IMUInitializerC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_15IMUInitSettingsEPNS_28DelayedMarginalizationGraphsEbSt8functionIFvRKNS9_6ValuesEbEE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializer.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(IMUUtils.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio16integrateIMUDataERKSt6vectorINS_14IMUMeasurementESaIS1_EERN5gtsam28PreintegratedImuMeasurementsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(IMUUtils.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitSettings.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio15IMUInitSettings12registerArgsERNS_12SettingsUtilENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitSettings.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(GTSAMUtils.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio24augmentedHessianFromPairERKSt4pairIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(GTSAMUtils.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(DelayedMarginalization.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio28DelayedMarginalizationGraphsC2Eii':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(DelayedMarginalization.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(FEJValues.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio17setFEJMapForGraphERN5gtsam20NonlinearFactorGraphERKSt10shared_ptrINS_9FEJValuesEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(FEJValues.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerLogic.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio19IMUInitializerLogicC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_15IMUInitSettingsEPNS_28DelayedMarginalizationGraphsEbSt8functionIFvRKNS9_6ValuesEbEERNS_19IMUInitStateChangerE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerLogic.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(IMUInitializerTransitions.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio21createTransitionModelENS_18InitTransitionModeERNS_19IMUInitializerLogicE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(IMUInitializerTransitions.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(AugmentedScatter.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio16AugmentedScatterC2ERKN5gtsam19GaussianFactorGraphEN5boost8optionalIRKNS1_8OrderingEEERKSt3mapImmSt4lessImESaISt4pairIKmmEEE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(AugmentedScatter.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio22CoarseIMUInitOptimizerC2ESt10shared_ptrINS_18PoseTransformationEERKNS_14IMUCalibrationERKNS_30CoarseIMUInitOptimizerSettingsE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdmvio.a(IMUInitializerStates.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio32DefaultActiveIMUInitializerStateC2ERNS_19IMUInitializerLogicERNS_20StateTransitionModelE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdmvio.a(IMUInitializerStates.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(KeyFrameDisplay.cpp.o): in function _GLOBAL__sub_I__ZN3dso6IOWrap15KeyFrameDisplayC2Ev':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(KeyFrameDisplay.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/dmvio_dataset.dir/build.make:173: bin/dmvio_dataset] Error 1
make[1]: *** [CMakeFiles/Makefile2:189: CMakeFiles/dmvio_dataset.dir/all] Error 2
make: *** [Makefile:130: all] Error 2
`
Any suggestion on what could be causing this?
I'm running it on Ubuntu 20.04 Desktop on a Virtual machine and the Boost version 1.6.0 as the documentation recommended.

normal situation:

abnormal situation:

I'm sorry to bother you. Could you tell me why this situation happened？

These are my running command with configurations and information printed on the terminal. And I can't find anything happened on the GUI.Could you please help me?
./bin/dmvio_dataset files=/home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images vignette=/home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png imuFile=/home/garronliu/data/E/bagfiles/dataset1/dso/imu.txt gtFile=/home/garronliu/data/E/bagfiles/dataset1/dso/gt_imu.csv calib=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt gamma=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt imuCalib=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=1 nogui=0 resultsPrefix=/home/garronliu/dmvio_results settingsFile=/home/garronliu/SLAM/dm-vio-master/configs/tumvi.yaml
PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:

• 1x real-time enforcing
• 2000 active points
• 5-7 active frames
• 1-6 LM iteration each KF
• original image resolution
  ==============================================
  Loading settings from yaml file: /home/garronliu/SLAM/dm-vio-master/configs/tumvi.yaml!
  Loading IMU parameter file at: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml
  Used T_cam_imu:
  -0.999525 0.0296153 -0.00852233 0.0472799
  0.00750192 -0.0343974 -0.99938 -0.0474432
  -0.0298901 -0.998969 0.0341589 -0.0682
  0 0 0 1
  Used noise values: 0.043 0.0011 0.224 0.0128
  Settings:
  accelerometer_noise_density: 0.224
  accelerometer_random_walk: 0.043
  addVisualToCoarseGraphIfTrackingBad: 0
  alwaysCanBreakIMU: 0
  baToCoarseAccBiasVariance: 1000
  baToCoarseGyrBiasVariance: 0.05
  baToCoarsePoseVariance: 0.1
  baToCoarseRotVariance: 1
  baToCoarseVelVariance: 0.1
  calib: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt
  dynamicWeightRMSEThresh: 8
  end: 100000
  files: /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images
  fixKeyframeDuringCoarseTracking: 1
  gamma: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt
  generalScaleIntervalSize: 60
  gravityDirectionFixZ: 1
  gtFile: /home/garronliu/data/E/bagfiles/dataset1/dso/gt_imu.csv
  gyroscope_noise_density: 0.0128
  gyroscope_random_walk: 0.0011
  imuCalib: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml
  imuFile: /home/garronliu/data/E/bagfiles/dataset1/dso/imu.txt
  init_coarseScaleUncertaintyThresh: 1
  init_conversionType: 0
  init_disableVIOUntilFirstInit: 1
  init_fixPoses: 1
  init_initDSOParams: 1
  init_lambdaLowerBound: 1e-16
  init_maxNumPoses: 100
  init_multipleBiases: 0
  init_multithreadedInitDespiteNonRT: 0
  init_onlyKFs: 1
  init_pgba_conversionType: 0
  init_pgba_delay: 100
  init_pgba_prepareGraphAddDelValues: 0
  init_pgba_prepareGraphAddFactors: 0
  init_pgba_priorExtrinsicsRot: 0.01
  init_pgba_priorExtrinsicsTrans: 0.1
  init_pgba_priorGravityDirection: 0.4
  init_pgba_priorGravityDirectionZ: 0.0001
  init_pgba_reinitScaleUncertaintyThresh: 0.5
  init_pgba_scaleUncertaintyThresh: 1
  init_pgba_skipFirstKFs: 0
  init_priorExtrinsicsRot: 0.01
  init_priorExtrinsicsTrans: 0.1
  init_priorGravityDirection: 0.4
  init_priorGravityDirectionZ: 0.0001
  init_priorRotSigma: 1e-05
  init_priorTransSigma: 1e-05
  init_requestFullResetErrorThreshold: -1
  init_requestFullResetNormalizedErrorThreshold: -1
  init_scalePriorAfterInit: 0
  init_secondthreshGravdir: 1000
  init_secondthreshScale: 1e+07
  init_threshGravdir: 1000
  init_threshScale: 1.02
  init_transitionModel: 2
  init_updatePoses: 1
  integration_sigma: 0.316227
  maxFrameEnergyThreshold: 5000
  maxPreloadImages: 0
  maxTimeBetweenInitFrames: 100000
  numMeasurementsGravityInit: 40
  preload: 1
  priorExtrinsicsRot: 0.01
  priorExtrinsicsTrans: 0.1
  priorGravityDirection: 0.4
  priorGravityDirectionZ: 0.0001
  resultsPrefix: /home/garronliu/dmvio_results
  reverse: 0
  sampleoutput: 0
  setting_forceNoKFTranslationThresh: 0
  setting_maxOptIterations: 6
  setting_minFramesBetweenKeyframes: -0.5
  setting_minIdepth: 0.02
  setting_minOptIterations: 1
  setting_optGravity: 1
  setting_optIMUExtrinsics: 0
  setting_optScaleBA: 1
  setting_prior_bias: 0
  setting_prior_velocity: 0
  setting_scaleFixTH: 0
  setting_solverMode: 2048
  setting_transferCovToCoarse: 1
  setting_visualOnlyAfterScaleFixing: 0
  setting_weightDSOCoarse: 0.001
  setting_weightDSOToGTSAM: 1.66667e-05
  setting_weightZeroPriorDSOInitX: 0
  setting_weightZeroPriorDSOInitY: 0
  skipFirstKeyframe: 0
  speed: 1
  start: 0
  transferCovToCoarseMultiplier: 1
  updateDynamicWeightDuringOptimization: 1
  use16Bit: 1
  useScaleDiagonalHack: 0
  vignette: /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png
  Reading Calibration from file /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt ... found!
  Creating Equidistant undistorter
  Input resolution: 512 512
  In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203
  Out: 0.200000 0.200000 0.499000 0.499000 0.000000
  Output resolution: 512 512

Rectified Kamera Matrix:
102.4 0 254.988
0 102.4 254.988
0 0 1

Reading Photometric Calibration from file /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt
Reading Vignette Image from /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png
Successfully read photometric calibration!
got 16213 images and 16213 timestamps and 16213 exposures.!
ImageFolderReader: got 16213 files in /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images!
Skipping comment line in IMU data.
IMU Id: 1520603863154984026
using pyramid levels 0 to 3. coarsest resolution: 64 x 64!
START PANGOLIN!
Switching to initializer state: RealtimeCoarseIMUInitState
PixelSelector: Using block sizes: 16, 16
LOADING ALL IMAGES!
OpenGL Error 502: GL_INVALID_OPERATION: The specified operation is not allowed in the current state.
In: /usr/local/include/pangolin/gl/gl.hpp, line 214
^CCaught signal 2
segment fault(core dumped)

Thx for the last issue. I sucessfully run the code.
As title! Or can I get the location of the 3D points in any format?

Hi, thank you for your great work about DM-VIO. I have a project for my robot. And I need to localize the robot in my campus. I think the localization will be more stable if we have a pre built map and we just need to localize in the map. So, dose dm-vio support this function?

I got a cmake error as:

CMake Error at CMakeLists.txt:191 (add_executable):
Target "dmvio_dataset" links to target "Eigen3::Eigen" but the target was
not found. Perhaps a find_package() call is missing for an IMPORTED
target, or an ALIAS target is missing?

CMake Error at CMakeLists.txt:191 (add_executable):
Target "dmvio_dataset" links to target "Eigen3::Eigen" but the target was
not found. Perhaps a find_package() call is missing for an IMPORTED
target, or an ALIAS target is missing?

when I try to recmake it, it shows that: Pangolin is not linked, this bug is so wired. I don't think that Pangolin is related to Eigen3.

I have also tried to add an Eigen3 path to Cmakelists.txt, but it still fails and shows a same error. And my Eigen version is 3.3.4.

When the screen starts to change, the visualization window crashes and the terminal reports a segment

Hi,

I tried to compare cam and imu tracking results, However, translation results always seem different.

        // In dmvio::IMUInitializerLogic::addPose functions Add Following
        // get transform DSO IMU
        std::shared_ptr<PoseTransformation> dso_to_imu = coarseIMUOptimizer->getUpdatedTransform();
        Eigen::Matrix4d T_cam_imu = dso_to_imu->getT_cam_imu().matrix();

        // Cam Tracking Result
        Eigen::Matrix4d T_camp_camc = shell.camToTrackingRef.matrix();
        Eigen::Matrix<double,3,3> R2 = T_camp_camc.block(0,0,3,3);

        // IMU Integration Result
        Eigen::Matrix4d T_imup_imuc = Eigen::Matrix4d::Identity();
        T_imup_imuc.block(0,0,3,3) = imuMeasurements.deltaRij().matrix();
        T_imup_imuc.block(0,3,3,1) = imuMeasurements.deltaPij().matrix();
        Eigen::Matrix4d T_camp_camc_measure = T_cam_imu * T_imup_imuc * T_cam_imu.inverse();

        // Compare two Results
        Eigen::Matrix<double,3,3> R1 = T_camp_camc_measure.block(0,0,3,3);
        // two angles are same 
        std::cout << std::fixed << shell.timestamp << " " << R1.eulerAngles(0, 1, 2).transpose() << std::endl;
        std::cout << std::fixed << shell.timestamp << " " << R2.eulerAngles(0, 1, 2).transpose() << std::endl;
        // two translations are always different
        std::cout << std::fixed << shell.timestamp << " " << T_camp_camc_measure.block(0,3,3,1).transpose() << std::endl;
        std::cout << std::fixed << shell.timestamp << " " <<T_camp_camc.block(0,3,3,1).transpose() << std::endl;

thanks in advance.

Hi, I want to run dm-vio on my dataset with imu, and I got Aborted(core dumped), I dont know the different between gtFile and imuFile, could you explain this two file. Tks.

I have played around the setting_desiredPointDensity variable and seen that changing the value of setting_desiredPointDensity has no effect on CPU usage.
I did it by adding the point density option into the function MainSettings::parseArgument in the MainSetting.cpp file .

    if(1 == sscanf(arg, "pointdensity=%d", &option))
    {
        
        setting_desiredPointDensity = option;
        printf("POINT DENSITY: %d.\n", option);
        
        return;
    }

When set setting_desiredPointDensity to 1000 (GUI has been disabled)

When set setting_desiredPointDensity to 100

HI
I`m encountering issue with the following error. can you help to address this?

nuc (master) build $ ./bin/dmvio_dataset files=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images vignette=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png imuFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/imu.txt gtFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/gt_imu.csv calib=/home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt gamma=/home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt imuCalib=/home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=0                                                 # use 1 for realtime nogui=1                                                         # use 1 to enable GUI resultsPrefix=/home/nuc/library/dm-vio/result/result settingsFile=/home/nuc/library/dm-vio/configs/tumvi.yaml start=2
loading data from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images!
loading vignette from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png!
IMU file is locatd at: /home/nuc/Desktop/dataset-corridor1_512_16/dso/imu.txt!
loading gtFile from /home/nuc/Desktop/dataset-corridor1_512_16/dso/gt_imu.csv!
loading calibration from /home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt!
loading gammaCalib from /home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt!
Loading imu parameters from /home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml!
Loading IMU parameter file at: /home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml
Used T_cam_imu: 
  -0.999525   0.0296153 -0.00852233   0.0472799
 0.00750192  -0.0343974    -0.99938  -0.0474432
 -0.0298901   -0.998969   0.0341589     -0.0682
          0           0           0           1
Used noise values: 0.00447213 0.0014142 0.316227 0.1
PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:
- no  real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
Settings:
accelerometer_noise_density: 0.316227
accelerometer_random_walk: 0.00447213
addVisualToCoarseGraphIfTrackingBad: 0
alwaysCanBreakIMU: 0
baToCoarseAccBiasVariance: 1000
baToCoarseGyrBiasVariance: 0.05
baToCoarsePoseVariance: 0.1
baToCoarseRotVariance: 1
baToCoarseVelVariance: 0.1
dynamicWeightRMSEThresh: 8
fixKeyframeDuringCoarseTracking: 1
generalScaleIntervalSize: 60
gravityDirectionFixZ: 1
gyroscope_noise_density: 0.1
gyroscope_random_walk: 0.0014142
init_coarseScaleUncertaintyThresh: 1
init_conversionType: 0
init_disableVIOUntilFirstInit: 1
init_fixPoses: 1
init_initDSOParams: 1
init_lambdaLowerBound: 1e-16
init_maxNumPoses: 100
init_multipleBiases: 0
init_multithreadedInitDespiteNonRT: 0
init_onlyKFs: 1
init_pgba_conversionType: 0
init_pgba_delay: 100
init_pgba_prepareGraphAddDelValues: 0
init_pgba_prepareGraphAddFactors: 0
init_pgba_priorExtrinsicsRot: 0.01
init_pgba_priorExtrinsicsTrans: 0.1
init_pgba_priorGravityDirection: 0.4
init_pgba_priorGravityDirectionZ: 0.0001
init_pgba_reinitScaleUncertaintyThresh: 0.5
init_pgba_scaleUncertaintyThresh: 1
init_pgba_skipFirstKFs: 0
init_priorExtrinsicsRot: 0.01
init_priorExtrinsicsTrans: 0.1
init_priorGravityDirection: 0.4
init_priorGravityDirectionZ: 0.0001
init_priorRotSigma: 1e-05
init_priorTransSigma: 1e-05
init_requestFullResetErrorThreshold: -1
init_requestFullResetNormalizedErrorThreshold: -1
init_scalePriorAfterInit: 0
init_secondthreshGravdir: 1000
init_secondthreshScale: 1e+07
init_threshGravdir: 1000
init_threshScale: 1.02
init_transitionModel: 2
init_updatePoses: 1
integration_sigma: 0.316227
maxFrameEnergyThreshold: 5000
maxPreloadImages: 0
maxTimeBetweenInitFrames: 100000
numMeasurementsGravityInit: 40
preload: 0
priorExtrinsicsRot: 0.01
priorExtrinsicsTrans: 0.1
priorGravityDirection: 0.4
priorGravityDirectionZ: 0.0001
resultsPrefix: 
setting_forceNoKFTranslationThresh: 0
setting_maxOptIterations: 6
setting_minFramesBetweenKeyframes: -0.5
setting_minIdepth: 0.02
setting_minOptIterations: 1
setting_optGravity: 1
setting_optIMUExtrinsics: 0
setting_optScaleBA: 1
setting_prior_bias: 0
setting_prior_velocity: 0
setting_scaleFixTH: 0
setting_solverMode: 2048
setting_transferCovToCoarse: 1
setting_visualOnlyAfterScaleFixing: 0
setting_weightDSOCoarse: 0.001
setting_weightDSOToGTSAM: 1.66667e-05
setting_weightZeroPriorDSOInitX: 0
setting_weightZeroPriorDSOInitY: 0
skipFirstKeyframe: 1
transferCovToCoarseMultiplier: 1
updateDynamicWeightDuringOptimization: 1
use16Bit: 1
useScaleDiagonalHack: 0
Reading Calibration from file /home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt ... found!
Creating Equidistant undistorter
Input resolution: 512 512
In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203
Out: 0.200000 0.200000 0.499000 0.499000 0.000000
Output resolution: 512 512

Rectified Kamera Matrix:
  102.4       0 254.988
      0   102.4 254.988
      0       0       1

Reading Photometric Calibration from file /home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt
Reading Vignette Image from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png
Successfully read photometric calibration!
got 5990 images and 5990 timestamps and 5990 exposures.!
ImageFolderReader: got 5990 files in /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images!
Skipping comment line in IMU data.
IMU Id: 1520531829221612058
using pyramid levels 0 to 3. coarsest resolution: 64 x 64!
START PANGOLIN!
Using setting_minFramesBetweenKeyframes=0.5 because of non-realtime mode.
Switching to initializer state: CoarseIMUInit
PixelSelector: Using block sizes: 16, 16
Loading gt data
GTData distance (seconds): 0.000900458
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Aborted (core dumped)

Hello there,

thanks for your excellent work!

Within imu config yaml files, I saw a parameter called: integration sigma, is this parameter the angular difference between the coordinate axes of the accelerometer and the angular velocity meter?

I look forward to your response! Thanks for your time in advance!
Arete

hello,there are some problem when I first run the Example 2: Running on Realense T265
the framework restarts repeatedly
the output like this

Can you give me some suggestions

To run dm-vio with realsense d435i data,
First, realsense d435i data was saved in EuRoC format.
I also made camera.txt, imu.txt, and times.txt files
And I ran dm-vio with the files.
I'm getting the following nan error.
When I took a log in the code, I checked that all residuals are in ResState::OOB.
How can I solve this?
Additionally, running with the --noimu option works well.

===================================================
813-stats: 0
814-stats: 0
LOG 191: -nan fine. Res: 0 A, 0 L, 0 M; (0 / 0) forceDrop. a=0.000000, b=0.000000. Window 191 (2)
GTData distance (seconds): 0.00414728
New ref frame id: 191 prepared keyframe id: 191
Prepared keyframe id: 191
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! 0 0 0 0 0 0 AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! 0 0 0 0 0 0 AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
BIG ERROR! tracking failed entirely. Take predicted pose and hope we may somehow recover.
Predicted pose:
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
Coarse Tracker tracked ab = 0.000000 0.000000 (exp 1.000000). Res nan!
Time since last keyframe: 0.0333569
Frame history size: 193
Preparing keyframe: 192
Frames between KFs: 0
SPARSITY: MinActDist 0.600000 (need 1000 points, have 0 points)!
OPTIMIZE 0 pts, 0 active res, 0 lin res!
activeResiduals.size(): 0
lastEnergy: 0
0
0
lastEnergyL: 0
lastEnergyM: nan
Initial Error A(0.000000)=(AV -nan). Num: A(0) + M(0); ab 0.000000 0.000000!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 0 (L -5.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 1 (L -3.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 2 (L -1.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 3 (L 1.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 4 (L 3.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 5 (L 5.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 6 (L 7.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 7 (L 9.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 8 (L 11.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 9 (L 13.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 10 (L 15.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 11 (L 17.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 12 (L 19.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 13 (L 21.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Dynamic weight: 1
STEPS: A -nan; B -nan; R nan; T -nan. REJECT 14 (L 23.00, dir nan, ss 1.0): A(0.000000)=(AV -nan). Num: A(0) + M(0); ab -nan -nan!
Num BA Iterations done: 15
LOG 192: -nan fine. Res: 0 A, 0 L, 0 M; (0 / 0) forceDrop. a=0.000000, b=0.000000. Window 192 (3)
GTPose: -0.023315 -0.050298 0
GTData distance (seconds): 0.00231806
New ref frame id: 192 prepared keyframe id: 192
Prepared keyframe id: 192
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! nan nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 1 with initOption 1 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! nan nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 2 with initOption 2 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 3 with initOption 3 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! 0 0 0 0 0 0 AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! 0 0 0 0 0 0 AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 4 with initOption 4 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 5 with initOption 5 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 6 with initOption 6 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 7 with initOption 7 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 8 with initOption 8 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 9 with initOption 9 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 10 with initOption 10 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 11 with initOption 11 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 12 with initOption 12 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 13 with initOption 13 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 14 with initOption 14 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 15 with initOption 15 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 16 with initOption 16 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 17 with initOption 17 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 18 with initOption 18 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 19 with initOption 19 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 20 with initOption 20 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 21 with initOption 21 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 22 with initOption 22 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 23 with initOption 23 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 24 with initOption 24 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 25 with initOption 25 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 26 with initOption 26 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 27 with initOption 27 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 28 with initOption 28 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 29 with initOption 29 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
lvl3, it -1 (l=0.010000 / 1.000000) INITIA: 0.000->-nan (0 -> 0) (|inc| = 0.000000)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
lvl 3, it 0 (l=0.010000 / 1.000000) REJECT: -nan->-nan (0 -> 0) (|inc| = -nan)! -nan -nan nan -nan -nan -nan AFF 0 0 (rel 1 0)
inc too small, break!
WARNING: Coarse tracker thinks that tracking was not good!
RE-TRACK ATTEMPT 30 with initOption 30 and start-lvl 3 (ab 0.000000 0.000000): nan nan nan nan nan -> nan nan nan -nan nan
BIG ERROR! tracking failed entirely. Take predicted pose and hope we may somehow recover.
Predicted pose:
-nan -nan -nan nan
-nan -nan -nan -nan
-nan -nan -nan -nan
0 0 0 1
TRACKING FAILED ENTIRELY, NO HOPE TO RECOVER
TRACKING FAILED ENTIRELY, NO HOPE TO RECOVER
X Error of failed request: BadDrawable (invalid Pixmap or Window parameter)
Major opcode of failed request: 14 (X_GetGeometry)
Resource id in failed request: 0x4400003
Serial number of failed request: 3278
Current serial number in output stream: 3278

What does the integration_sigma parameter in the last line of euroc.yaml in the configs folder mean? How do I get this parameter？thanks

Hi Lukas, thanks for your great work! We are recently deploying your work in an arm64 platform, and when we validate with TUM-VI dataset, the runtime sometimes spikes to 500ms when there are low texture, and normally it keeps at 100ms speed, we investigated the time consumption of each step and found the most time-consuming part is in function: fh->makeImages(image->image, &Hcalib);

Do you have any suggestion of what to do to optimize the speed?

We tried:

• lower image resolution
• lower tracking point number
• lower imu frequency

Hi,

I want to try your project with Arducam 1mp stereo OV9281, ROS Melodic, Nvidia Jetson NX JP4.4, mpu9250.

I have IMU noise config and cameras2imu config.
Tell me please about camera.txt format.
Intrinsics ok, but other digits what mean?

And i should use mode1?

Best regards, Viktor.

I am trying to build the project, now i am stuck with the following problem.. Can anyone help?

/usr/bin/ld: lib/libdmvio.a(IMUInitializer.cpp.o): undefined reference to symbol 'pthread_rwlock_wrlock@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libpthread.so.0: 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/dmvio_dataset.dir/build.make:162: recipe for target 'bin/dmvio_dataset' failed
make[2]: *** [bin/dmvio_dataset] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/dmvio_dataset.dir/all' failed
make[1]: *** [CMakeFiles/dmvio_dataset.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

How do I compare the data in the ground truth and the data in the result? Their timestamp formats are somewhat different, and the data difference is relatively large in comparison. how do I process these two sets of data so that they can be compared？
This is the last 200 lines of gt_imu.csv:

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///

@lukasvst
Hi, Thanks for your great work!
I have a question about DM-VIO support ROS.
Do you have any plans to support the ros version?
Thanks,

Firstly, thank you for your contributions! Aimed to fix the problem as shown in the title, I have checked Gtsam file, but got nothing about DerivedValue.h. Could you give any hints about this? Thank you very much！

Hello,everyone.

I have followed the readme.md, but meet the problem below when I comfile dm-vio.
/usr/bin/ld: lib/libdmvio.a(IMUIntegration.cpp.o): undefined reference to symbol '_ZN3tbb6detail2r117deallocate_memoryEPv'
/usr/bin/ld: /usr/local/lib/libtbb.so.12: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

It seems to be the former issue #6.

But I have tried the same way (as below) to install my gtsam but the problem still exists.

cmake -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make -j4
sudo make install

My gtsam version is 4.2a6. And my tbb version is 2021.5.0.

I hope someone can give me a hand. Thank you very much!

Hello, Thank you for the fantastic works.
I am able to obtain the very precise result in TUM-VI dataset. However, I got struggle on reproduced the result on EuRoC, sequence MH_04 for specific, (also in OpenLoris datasets), the scale seems bad. I generated the config and run by the python scripts. Do you have any suggest to run it correctly?
Thank you in advance!

I am trying to build the project, now i am stuck with the following problem.. Can anyone help?

/usr/bin/ld: CMakeFiles/Google_Tests_run.dir/test_PoseTransformationFactor.cpp.o: undefined reference to symbol '_ZN3tbb8internal23allocate_via_handler_v3Em'
/usr/bin/ld: /lib/x86_64-linux-gnu/libtbb.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [test/CMakeFiles/Google_Tests_run.dir/build.make:134: test/bin/Google_Tests_run] Error 1
make[1]: *** [CMakeFiles/Makefile2:216: test/CMakeFiles/Google_Tests_run.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: lib/libdmvio.a(BAGTSAMIntegration.cpp.o): undefined reference to symbol '_ZN3tbb8internal23allocate_via_handler_v3Em'
/usr/bin/ld: /lib/x86_64-linux-gnu/libtbb.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/dmvio_dataset.dir/build.make:131: bin/dmvio_dataset] Error 1
make[1]: *** [CMakeFiles/Makefile2:160: CMakeFiles/dmvio_dataset.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

Error:<gtsam/base/DerivedValue.h> no such file or directory.
The GTSAM code I got from github don't have such a file. Is that a GTSAM version error?

Reading Calibration from file ... not found. Cannot operate without calibration, shutting down.

Hello, thank you for your work! However, when I ran dm-vio on nuscenes dataset, I met with initialization failure. Therefore, I wonder if you require the initial velocity to be 0 for a good initialization?

Hey guys, I was wondering if you could help me with something. I'm curious to know if it's possible to load a map, then localize the camera and its pose within that map, and finally, update the map accordingly. Do you think this is something that can be done? Furthermore, is it possible to extract and store the user position path (the red path/keyframes)?

My ultimate goal is to store the red path as nodes (with coordinates) with edges between them.

I want to know, if I go into a black house, so I can not get any visual info. Can It still work by using IMU info at a short time and when I get out the black house, I can get the true trajectory showing I was in and out.
Thanks!

Hi,
I've built dm-vio on a raspberry pi, and I want to be able to stream video from the raspberry pi camera module to dm-vio. Is this possible? I can use OpenCV to capture the images from the live stream, so it's just a question of passing image frames to dm-vio. How can I do this?
Thanks

Hi,

I followed the instruction of README to build dm-vio, but the cmake generate step failed. The cmake error information is as follows:

haisongwang@haisongwang-ThinkPad-Edge-E540:~/SLAM/dm-vio/build$ cmake ..
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "2.91.0") 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system thread filesystem chrono serialization date_time timer regex 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex 
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Found LIBZIP: /usr/lib/x86_64-linux-gnu/libzip.so  
--- found PANGOLIN, compiling with pangolin library.
--- found OpenCV, compiling with opencv library.
--- found ziplib (1.5.1), compiling with zip capability.
--- compiling dmvio_dataset.
-- Configuring done
CMake Error at CMakeLists.txt:191 (add_executable):
  Target "dmvio_dataset" links to target "Eigen3::Eigen" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at CMakeLists.txt:191 (add_executable):
  Target "dmvio_dataset" links to target "Eigen3::Eigen" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


-- Generating done
CMake Generate step failed.  Build files cannot be regenerated correctly.

That's wired, because Eigen3 is found, and Eigen3::Eigen is not included in DOVIO_LINKED_LIBRARIES, so I can't fix it by modifying CMakeLists.txt file.
Before build dm-vio, I have build LDSO successfully.

Any suggestions? Thanks very much.

Forgive my poor English...

Why does the visualization window crash when I run the EuRoC dataset and report a segment error in the terminal

Hi, The program is running, but there is no graphic or dot on Pangolin. The dataset is TUM-VI slides1. The resultsPrefix file exists but without anything. Is that normal? Or is there something wrong with the format of my input?
Thanks for your help.

This happens during the last build step, even though libboost is installed.

For reference DSO built just fine.

bin/dmvio_dataset \

files=/home/wrm/桌面/dataset/dso/cam0/images \
vignette=/home/wrm/桌面/dataset/dso/cam0/vignette.png \
imuFile=/home/wrm/桌面/dataset/dso/imu.txt \
gtFile=/home/wrm/桌面/dataset/dso/gt_imu.csv \
calib=/home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt \
gamma=/home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt \
imuCalib=/home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml \
mode=0 \
use16Bit=1 \
preset=0 \
nogui=0 \
resultsPrefix=/home/wrm/桌面/dm-vio/result \
settingsFile=/home/wrm/桌面/dm-vio/configs/tumvi.yaml \
start=2

PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:

• no real-time enforcing
• 2000 active points
• 5-7 active frames
• 1-6 LM iteration each KF
• original image resolution
  ==============================================
  Loading settings from yaml file: /home/wrm/桌面/dm-vio/configs/tumvi.yaml!
  Loading IMU parameter file at: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml
  Used T_cam_imu:
  -0.999525 0.0296153 -0.00852233 0.0472799
  0.00750192 -0.0343974 -0.99938 -0.0474432
  -0.0298901 -0.998969 0.0341589 -0.0682
  0 0 0 1
  Used noise values: 0.043 0.0011 0.224 0.0128
  Settings:
  accelerometer_noise_density: 0.224
  accelerometer_random_walk: 0.043
  addVisualToCoarseGraphIfTrackingBad: 0
  alwaysCanBreakIMU: 0
  baToCoarseAccBiasVariance: 1000
  baToCoarseGyrBiasVariance: 0.05
  baToCoarsePoseVariance: 0.1
  baToCoarseRotVariance: 1
  baToCoarseVelVariance: 0.1
  calib: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt
  dynamicWeightRMSEThresh: 8
  end: 100000
  files: /home/wrm/桌面/dataset/dso/cam0/images
  fixKeyframeDuringCoarseTracking: 1
  gamma: /home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt
  generalScaleIntervalSize: 60
  gravityDirectionFixZ: 1
  gtFile: /home/wrm/桌面/dataset/dso/gt_imu.csv
  gyroscope_noise_density: 0.0128
  gyroscope_random_walk: 0.0011
  imuCalib: /home/wrm/桌面/dm-vio/configs/tumvi_calib/camchain.yaml
  imuFile: /home/wrm/桌面/dataset/dso/imu.txt
  init_coarseScaleUncertaintyThresh: 1
  init_conversionType: 0
  init_disableVIOUntilFirstInit: 1
  init_fixPoses: 1
  init_initDSOParams: 1
  init_lambdaLowerBound: 1e-16
  init_maxNumPoses: 100
  init_multipleBiases: 0
  init_multithreadedInitDespiteNonRT: 0
  init_onlyKFs: 1
  init_pgba_conversionType: 0
  init_pgba_delay: 100
  init_pgba_prepareGraphAddDelValues: 0
  init_pgba_prepareGraphAddFactors: 0
  init_pgba_priorExtrinsicsRot: 0.01
  init_pgba_priorExtrinsicsTrans: 0.1
  init_pgba_priorGravityDirection: 0.4
  init_pgba_priorGravityDirectionZ: 0.0001
  init_pgba_reinitScaleUncertaintyThresh: 0.5
  init_pgba_scaleUncertaintyThresh: 1
  init_pgba_skipFirstKFs: 0
  init_priorExtrinsicsRot: 0.01
  init_priorExtrinsicsTrans: 0.1
  init_priorGravityDirection: 0.4
  init_priorGravityDirectionZ: 0.0001
  init_priorRotSigma: 1e-05
  init_priorTransSigma: 1e-05
  init_requestFullResetErrorThreshold: -1
  init_requestFullResetNormalizedErrorThreshold: -1
  init_scalePriorAfterInit: 0
  init_secondthreshGravdir: 1000
  init_secondthreshScale: 1e+07
  init_threshGravdir: 1000
  init_threshScale: 1.02
  init_transitionModel: 2
  init_updatePoses: 1
  integration_sigma: 0.316227
  maxFrameEnergyThreshold: 5000
  maxPreloadImages: 0
  maxTimeBetweenInitFrames: 100000
  numMeasurementsGravityInit: 40
  preload: 0
  priorExtrinsicsRot: 0.01
  priorExtrinsicsTrans: 0.1
  priorGravityDirection: 0.4
  priorGravityDirectionZ: 0.0001
  resultsPrefix: /home/wrm/桌面/dm-vio/result
  reverse: 0
  sampleoutput: 0
  setting_forceNoKFTranslationThresh: 0
  setting_maxOptIterations: 6
  setting_minFramesBetweenKeyframes: -0.5
  setting_minIdepth: 0.02
  setting_minOptIterations: 1
  setting_optGravity: 1
  setting_optIMUExtrinsics: 0
  setting_optScaleBA: 1
  setting_prior_bias: 0
  setting_prior_velocity: 0
  setting_scaleFixTH: 0
  setting_solverMode: 2048
  setting_transferCovToCoarse: 1
  setting_visualOnlyAfterScaleFixing: 0
  setting_weightDSOCoarse: 0.001
  setting_weightDSOToGTSAM: 1.66667e-05
  setting_weightZeroPriorDSOInitX: 0
  setting_weightZeroPriorDSOInitY: 0
  skipFirstKeyframe: 0
  speed: 0
  start: 2
  transferCovToCoarseMultiplier: 1
  updateDynamicWeightDuringOptimization: 1
  use16Bit: 1
  useScaleDiagonalHack: 0
  vignette: /home/wrm/桌面/dataset/dso/cam0/vignette.png
  Reading Calibration from file /home/wrm/桌面/dm-vio/configs/tumvi_calib/camera02.txt ... found!
  Creating Equidistant undistorter
  Input resolution: 512 512
  In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203
  Out: 0.200000 0.200000 0.499000 0.499000 0.000000
  Output resolution: 512 512

Rectified Kamera Matrix:
102.4 0 254.988
0 102.4 254.988
0 0 1

Reading Photometric Calibration from file /home/wrm/桌面/dm-vio/configs/tumvi_calib/pcalib.txt
Reading Vignette Image from /home/wrm/桌面/dataset/dso/cam0/vignette.png
Successfully read photometric calibration!
set timestamps and exposures to zero!
set EXPOSURES to zero!
got 0 images and 0 timestamps and 0 exposures.!
ImageFolderReader: got 0 files in /home/wrm/桌面/dataset/dso/cam0/images!
Skipping comment line in IMU data.
IMU Id: 1520530962735370731
Found no start frame for IMU-data!
using pyramid levels 0 to 3. coarsest resolution: 64 x 64!
START PANGOLIN!
Using setting_minFramesBetweenKeyframes=0.5 because of non-realtime mode.
Switching to initializer state: CoarseIMUInit
PixelSelector: Using block sizes: 16, 16
Loading gt data
段错误 (核心已转储)

To run dm-vio with own data,
I made camera.txt, imu.txt, camchain.yaml,and times.txt files.
(I've runned interpolate_imu_file)
And I runned dm-vio with the files.
But dm-vio doesn't work.
Any suggestion for this problem?

Additionally, running with the --noimu option works well.

bin/dmvio_dataset files=/home/intel/bagfiles/dmvio_data/image1 imuFile=/home/intel/bagfiles/dmvio_data/image1/imu.txt calib=/home/intel/bagfiles/dmvio_data/configs/camera.txt imuCalib=/home/intel/bagfiles/dmvio_data/configs/camchain.yaml mode=1 preset=0 nogui=0 resultsPrefix=/home/intel/bagfiles/dmvio_data/result/ settingsFile=/home/intel/bagfiles/dmvio_data/configs/tumvi.yaml

PHOTOMETRIC MODE WITHOUT CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:

• no real-time enforcing
• 2000 active points
• 5-7 active frames
• 1-6 LM iteration each KF
• original image resolution
  ==============================================
  Loading settings from yaml file: /home/intel/bagfiles/dmvio_data/configs/tumvi.yaml!
  Loading IMU parameter file at: /home/intel/bagfiles/dmvio_data/configs/camchain.yaml
  Used T_cam_imu:
  0.999416 0.00818122 -0.0331675 -0.0273869
  -0.00817461 0.999967 0.000334768 -0.00462149
  0.0331691 -6.34414e-05 0.99945 -0.0160095
  0 0 0 1
  Used noise values: 0.043 0.0011 0.224 0.0128
  Settings:
  accelerometer_noise_density: 0.224
  accelerometer_random_walk: 0.043
  addVisualToCoarseGraphIfTrackingBad: 0
  alwaysCanBreakIMU: 0
  baToCoarseAccBiasVariance: 1000
  baToCoarseGyrBiasVariance: 0.05
  baToCoarsePoseVariance: 0.1
  baToCoarseRotVariance: 1
  baToCoarseVelVariance: 0.1
  calib: /home/intel/bagfiles/dmvio_data/configs/camera.txt
  dynamicWeightRMSEThresh: 8
  end: 100000
  files: /home/intel/bagfiles/dmvio_data/image1
  fixKeyframeDuringCoarseTracking: 1
  gamma:
  generalScaleIntervalSize: 60
  gravityDirectionFixZ: 1
  gtFile:
  gyroscope_noise_density: 0.0128
  gyroscope_random_walk: 0.0011
  imuCalib: /home/intel/bagfiles/dmvio_data/configs/camchain.yaml
  imuFile: /home/intel/bagfiles/dmvio_data/image1/imu.txt
  init_coarseScaleUncertaintyThresh: 1
  init_conversionType: 0
  init_disableVIOUntilFirstInit: 1
  init_fixPoses: 1
  init_initDSOParams: 1
  init_lambdaLowerBound: 1e-16
  init_maxNumPoses: 100
  init_multipleBiases: 0
  init_multithreadedInitDespiteNonRT: 0
  init_onlyKFs: 1
  init_pgba_conversionType: 0
  init_pgba_delay: 100
  init_pgba_prepareGraphAddDelValues: 0
  init_pgba_prepareGraphAddFactors: 0
  init_pgba_priorExtrinsicsRot: 0.01
  init_pgba_priorExtrinsicsTrans: 0.1
  init_pgba_priorGravityDirection: 0.4
  init_pgba_priorGravityDirectionZ: 0.0001
  init_pgba_reinitScaleUncertaintyThresh: 0.5
  init_pgba_scaleUncertaintyThresh: 1
  init_pgba_skipFirstKFs: 0
  init_priorExtrinsicsRot: 0.01
  init_priorExtrinsicsTrans: 0.1
  init_priorGravityDirection: 0.4
  init_priorGravityDirectionZ: 0.0001
  init_priorRotSigma: 1e-05
  init_priorTransSigma: 1e-05
  init_requestFullResetErrorThreshold: -1
  init_requestFullResetNormalizedErrorThreshold: -1
  init_scalePriorAfterInit: 0
  init_secondthreshGravdir: 1000
  init_secondthreshScale: 1e+07
  init_threshGravdir: 1000
  init_threshScale: 1.02
  init_transitionModel: 2
  init_updatePoses: 1
  integration_sigma: 0.316227
  maxFrameEnergyThreshold: 5000
  maxPreloadImages: 0
  maxTimeBetweenInitFrames: 100000
  numMeasurementsGravityInit: 40
  preload: 0
  priorExtrinsicsRot: 0.01
  priorExtrinsicsTrans: 0.1
  priorGravityDirection: 0.4
  priorGravityDirectionZ: 0.0001
  resultsPrefix: /home/intel/bagfiles/dmvio_data/result/
  reverse: 0
  sampleoutput: 0
  setting_forceNoKFTranslationThresh: 0
  setting_maxOptIterations: 6
  setting_minFramesBetweenKeyframes: -0.5
  setting_minIdepth: 0.02
  setting_minOptIterations: 1
  setting_optGravity: 1
  setting_optIMUExtrinsics: 0
  setting_optScaleBA: 1
  setting_prior_bias: 0
  setting_prior_velocity: 0
  setting_scaleFixTH: 0
  setting_solverMode: 2048
  setting_transferCovToCoarse: 1
  setting_visualOnlyAfterScaleFixing: 0
  setting_weightDSOCoarse: 0.001
  setting_weightDSOToGTSAM: 1.66667e-05
  setting_weightZeroPriorDSOInitX: 0
  setting_weightZeroPriorDSOInitY: 0
  skipFirstKeyframe: 0
  speed: 0
  start: 0
  transferCovToCoarseMultiplier: 1
  updateDynamicWeightDuringOptimization: 1
  use16Bit: 0
  useScaleDiagonalHack: 0
  vignette:
  Reading Calibration from file /home/intel/bagfiles/dmvio_data/configs/camera.txt ... found!
  Input resolution: 1280 720
  In: 644.000000 653.000000 665.000000 378.000000 -0.039000
  Out: Rectify Crop
  Output resolution: 1280 720
  finding CROP optimal new model!
  initial range: x: -1.0429 - 0.9629; y: -0.5846 - 0.5274!
  iteration 00001: range: x: -1.0377 - 0.9581; y: -0.5846 - 0.5274!
  iteration 00002: range: x: -1.0325 - 0.9533; y: -0.5846 - 0.5274!
  iteration 00003: range: x: -1.0325 - 0.9533; y: -0.5817 - 0.5248!
  iteration 00004: range: x: -1.0325 - 0.9533; y: -0.5788 - 0.5222!
  iteration 00005: range: x: -1.0325 - 0.9533; y: -0.5788 - 0.5222!

Rectified Kamera Matrix:
644.056 0 665.003
0 653.091 377.981
0 0 1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file
PhotometricUndistorter: Could not open file!
set timestamps and exposures to zero!
set EXPOSURES to zero!
got 3849 images and 0 timestamps and 0 exposures.!
ImageFolderReader: got 3849 files in /home/intel/bagfiles/dmvio_data/image1!
IMU Id: 1672040735245689631
段错误 (核心已转储)

I am building the project in Docker on a M2 silicon chip Mac. I followed the installation instruction and I got the following error when run make -j4
root@8ae9bd6c5112:/dm-vio/build# make -j1 Scanning dependencies of target dmvio [ 1%] Building CXX object CMakeFiles/dmvio.dir/src/dso/FullSystem/FullSystem.cpp.o In file included from /dm-vio/src/dso/FullSystem/CoarseTracker.h:34, from /dm-vio/src/dso/FullSystem/FullSystem.cpp:49: /dm-vio/src/dso/OptimizationBackend/MatrixAccumulators.h:29:10: fatal error: SSE2NEON.h: No such file or directory 29 | #include "SSE2NEON.h" | ^~~~~~~~~~~~ compilation terminated. make[2]: *** [CMakeFiles/dmvio.dir/build.make:63: CMakeFiles/dmvio.dir/src/dso/FullSystem/FullSystem.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:125: CMakeFiles/dmvio.dir/all] Error 2 make: *** [Makefile:84: all] Error 2

Hi, on running run_dmvio.py on the euroc dataset, I get the error saying
Pangolin X11: Failed to open X display,

Could you please let me know how I can resolve this?

Hi there, after running the executable dmvio_dataset, I got the following error. GTSAM 4.2.0 is installed in a specific path and linked to the project as follows,

find_package(GTSAM 4.2.0 EXACT REQUIRED PATHS "/home/neoy/alter_lib" NO_DEFAULT_PATH)

./dmvio_dataset
./dmvio_dataset: Symbol _ZTVN5gtsam6FactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol _ZTVN5gtsam16NoiseModelFactorE' has different size in shared object, consider re-linking
./dmvio_dataset: Symbol _ZTVN5gtsam13HessianFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol _ZTVN5gtsam20NonlinearFactorGraphE' has different size in shared object, consider re-linking
./dmvio_dataset: Symbol _ZTVN5gtsam14JacobianFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol _ZTVN5gtsam9ImuFactorE' has different size in shared object, consider re-linking
./dmvio_dataset: symbol lookup error: ./dmvio_dataset: undefined symbol: _ZN5gtsam14JacobianFactorC1EmRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS2_IdLin1ELi1ELi0ELin1ELi1EEERKN5boost10shared_ptrINS_10noiseModel8DiagonalEEE

Does anyone know how to fix it? Thanks!

Hi, I am porting this to Windows, and I have everything compiling and launching (live with a T265) however, I see the following error, and the system crashes when it tries to run.
dmvio.exe useimu=1 mode=0 preset=1 nogui=0 quiet=1 start=2 settingsFile=configs/t265_noise_tumvi.yaml resultsPrefix=/results/ calibSavePath=/calib.txt vignette=configs/realsense/vignette_t265.png gamma=configs/pcalib_linear_8bit.txt

gives me:

Enabling IMU integration!
PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:
- 1x real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
QUIET MODE, I'll shut up!
Loading settings from yaml file: configs/t265_noise_tumvi.yaml!
Settings:
accelerometer_noise_density: 0.224
accelerometer_random_walk: 0.043
addVisualToCoarseGraphIfTrackingBad: 0
alwaysCanBreakIMU: 0
baToCoarseAccBiasVariance: 1000
baToCoarseGyrBiasVariance: 0.05
baToCoarsePoseVariance: 0.1
baToCoarseRotVariance: 1
baToCoarseVelVariance: 0.1
calib:
calibSavePath: /FACTORY_CALIBRATION_WILL_BE_SAVED_HERE.txt
camchainSavePath:
dynamicWeightRMSEThresh: 8
fixKeyframeDuringCoarseTracking: 1
gamma: configs/pcalib_linear_8bit.txt
generalScaleIntervalSize: 60
gravityDirectionFixZ: 1
gyroscope_noise_density: 0.0128
gyroscope_random_walk: 0.0011
imuCalib:
init_coarseScaleUncertaintyThresh: 5
init_conversionType: 0
init_disableVIOUntilFirstInit: 1
init_fixPoses: 1
init_initDSOParams: 1
init_lambdaLowerBound: 1e-16
init_maxNumPoses: 100
init_multipleBiases: 0
init_multithreadedInitDespiteNonRT: 0
init_onlyKFs: 1
init_pgba_conversionType: 0
init_pgba_delay: 100
init_pgba_prepareGraphAddDelValues: 0
init_pgba_prepareGraphAddFactors: 0
init_pgba_priorExtrinsicsRot: 0.01
init_pgba_priorExtrinsicsTrans: 0.1
init_pgba_priorGravityDirection: 0.4
init_pgba_priorGravityDirectionZ: 0.0001
init_pgba_reinitScaleUncertaintyThresh: 1
init_pgba_scaleUncertaintyThresh: 5
init_pgba_skipFirstKFs: 1
init_priorExtrinsicsRot: 0.01
init_priorExtrinsicsTrans: 0.1
init_priorGravityDirection: 0.4
init_priorGravityDirectionZ: 0.0001
init_priorRotSigma: 1e-05
init_priorTransSigma: 1e-05
init_requestFullResetErrorThreshold: -1
init_requestFullResetNormalizedErrorThreshold: 0.1
init_scalePriorAfterInit: 0
init_secondthreshGravdir: 1000
init_secondthreshScale: 1e+07
init_threshGravdir: 1000
init_threshScale: 1.02
init_transitionModel: 2
init_updatePoses: 1
integration_sigma: 0.316227
maxFrameEnergyThreshold: 5000
maxSkipFramesFullReset: -1
maxSkipFramesVisualInertial: 2
maxSkipFramesVisualInit: 0
maxSkipFramesVisualOnlyMode: 1
maxTimeBetweenInitFrames: 1
minQueueSizeForSkipping: 2
normalizeCamSize: 0.2
numMeasurementsGravityInit: 40
preload: 1
priorExtrinsicsRot: 0.01
priorExtrinsicsTrans: 0.1
priorGravityDirection: 0.4
priorGravityDirectionZ: 0.0001
resultsPrefix: /PATH_TO_RESULTS/
saveDatasetPath:
setting_forceNoKFTranslationThresh: 0
setting_maxOptIterations: 6
setting_minFramesBetweenKeyframes: -0.5
setting_minIdepth: 0.02
setting_minOptIterations: 1
setting_optGravity: 1
setting_optIMUExtrinsics: 0
setting_optScaleBA: 1
setting_prior_bias: 0
setting_prior_velocity: 0
setting_scaleFixTH: 0
setting_solverMode: 2048
setting_transferCovToCoarse: 1
setting_visualOnlyAfterScaleFixing: 0
setting_weightDSOCoarse: 0.001
setting_weightDSOToGTSAM: 1.66667e-05
setting_weightZeroPriorDSOInitX: 0
setting_weightZeroPriorDSOInitY: 0
skipFirstKeyframe: 0
skipFramesVisualOnlyDelay: 30
speed: 1
start: 2
transferCovToCoarseMultiplier: 1
updateDynamicWeightDuringOptimization: 1
useScaleDiagonalHack: 0
vignette: configs/realsense/vignette_t265.png
Saving camera calibration to /FACTORY_CALIBRATION_WILL_BE_SAVED_HERE.txt
Sensor Tracking Module. Supported options:
        Exposure
        Gain
        Enable Auto Exposure
        Frames Queue Size
        Asic Temperature
        Motion Module Temperature
        Enable Mapping
        Enable Relocalization
        Enable Pose Jumping
        Enable Dynamic Calibration
        Enable Map Preservation
Device Intel RealSense T265 connected
Gyro Matrix
   0.994002           0           0  0.00232676
          0    0.994022           0 0.000956401
          0           0     0.99584 0.000545991
Gyro noise var: 0.00226893
0.00226893
0.00226893 bias var: 0.000707107
0.000707107
0.000707107
Accel noise var: 0.00818245
0.00818245
0.00818245 bias var: 0.01
0.01
0.01
T_imu_cam:    -0.999978 -0.000865133   0.00664827    0.0106998
 0.000853561    -0.999998  -0.00174326 -9.13311e-06
  0.00664977  -0.00173754     0.999976 -7.11525e-05
           0            0            0            1
T_cam_imu:    -0.999978  0.000853561   0.00664977       0.0107
-0.000865133    -0.999998  -0.00173754 -8.60805e-13
  0.00664827  -0.00174326     0.999976  2.30347e-13
           0            0            0            1
Reading Calibration from file /FACTORY_CALIBRATION_WILL_BE_SAVED_HERE.txt ... found!
Creating KannalaBrandt undistorter
Input resolution: 848 800
In: KannalaBrandt 283.915000 285.098000 424.730000 401.469000 -0.001734 0.037912 -0.035763 0.005849
Out: 0.200000 0.200000 0.499000 0.499000 0.000000
Output resolution: 848 800

Rectified Kamera Matrix:
  169.6       0 422.652
      0     160   398.7
      0       0       1

Reading Photometric Calibration from file configs/pcalib_linear_8bit.txt
Reading Vignette Image from configs/realsense/vignette_t265.png
Successfully read photometric calibration!
using pyramid levels 0 to 4. coarsest resolution: 53 x 50!
Using factory IMU calibration!
START PANGOLIN!
Switching to initializer state: RealtimeCoarseIMUInitState
PixelSelector: Using block sizes: 16, 16
PixelSelector: Using block sizes: 16, 16
InitTimeBetweenFrames: 0.0333333
InitTimeBetweenFrames: 0.0666666
InitTimeBetweenFrames: 0.0999999
InitTimeBetweenFrames: 0.133333
InitTimeBetweenFrames: 0.166667
InitTimeBetweenFrames: 0.2
InitTimeBetweenFrames: 0.233334
InitTimeBetweenFrames: 0.266667
Scaling with rescaleFactor: 5.14
INITIALIZE FROM INITIALIZER (966 pts)!
WARNING: Not sending frame, because it does not have IMU data yet.
WARNING: Not sending frame, because it does not have IMU data yet.
WARNING: Not sending frame, because it does not have IMU data yet.

And then the application crashes. What can i look at to solve this?

Thanks!

Hello,
I was going over both the code and the paper and couldn't figure out how dm-vio picks the points it uses to track in the various frames. Does it use any kind of feature detector to correlate between points in images? What kind of feature detector does it use?

Thanks for the response

Hello, i can run live with D435i Camera after modified a little bit of your T265 version but i dont know how to save with your Recording and playing back a dataset tutorial.
but i cant run the below

dm-vio/cmake-build-relwithdebinfo/bin/dmvio_t265 useimu=1 mode=0 preset=1 nogui=0 quiet=1 start=2 settingsFile=dm-vio/configs/t265_noise_tumvi.yaml resultsPrefix=./runResults/ calibSavePath=./RealsenseCalibration/factory_calib.txt camchainSavePath=./RealsenseCalibration/factory_camchain.yaml vignette=dm-vio/configs/realsense/vignette_t265.png gamma=dm-vio/configs/pcalib_linear_8bit.txt saveDatasetPath=$savefolder

in my cmake-build-relwithdebuginfo, the folder is empty, can you give me the solution?

Hello, we're trialing new methods for performing real-time SLAM off-board on a monocular nano UAV (30g). The main problem is we can only get IMU data at around 8 Hz, where as generally when running on-board you get 200Hz. Do you believe it is possible to get somewhat good results using dm-vio on such low IMU frequency? I was thinking maybe we'd just slow down the UAV, but wanted to get your sense as to whether this is possible at all with dm-vio, or we should just try something else.

Really appreciate all your hard work and making code available. Thanks!

In the 3rd step Running, we need to "Download a TUM-VI sequence (download in the format Euroc / DSO 512x512) at https://vision.in.tum.de/data/datasets/visual-inertial-dataset". However, when I open the URL, it shows that the URL is not available. Is there any other way I can download this dataset?

Hi,
It seems saved images sometimes have misalignment. Using cv::Mat clone() may improve this condition.

void dmvio::DatasetSaver::addImage(cv::Mat& mat, double timestamp, double exposure)
{
    {
        std::unique_lock<std::mutex> lock(mutex);
        imageQueue.emplace_back(mat.clone(), timestamp, exposure);
    }
    frameArrivedCond.notify_all();
}

terminate called after throwing an instance of 'YAML::BadFile'
what(): yaml-cpp: error at line 0, column 0: bad file

Thanks for realeseing this awesome project, I tested with my own sensor, Realsense D455, I calibrated with basalt and prepared the full dataset here:

https://drive.google.com/file/d/15B9qwuYwPDqlkmGxKPgyjYxCOanzWDRN/view?usp=sharing

it can initialize sucessfully and the track looks good though:

The parameter I use to run this dataset is as following:

dmvio_dataset files=/home/ran/d455/061601/cam0/images \
                      vignette=/home/ran/d455/061601/cam0/vignette.png \
                      imuFile=/home/ran/d455/061601/imu.txt \
                      calib=/home/ran/d455/061601/cam0/camera.txt \
                      gamma=/home/ran/d455/061601/cam0/pcalib.txt \
                      imuCalib=/home/ran/d455/061601/cam0/camchain.yaml \
                      mode=0 \
                      use16Bit=0 \
                      preset=0 \
                      nogui=0 \
                      useimu=1 \
                      resultsPrefix=/home/ran/d455/061601/result/ \
                      settingsFile=/home/ran/d455/061601/imu_util_setting.yaml \
                      start=1

The full error log is as shown below:

Frame history size: 100
Preparing keyframe: 99
Frames between KFs: 1
SPARSITY:  MinActDist 3.100000 (need 1000 points, have 1003 points)!
OPTIMIZE 1352 pts, 8438 active res, 0 lin res!
Initial Error       	A(1412939.548978)=(AV 4.795). Num: A(7682) + M(35736); ab -0.048004 -5.945345!
Dynamic weight: 1
STEPS: A 2.8; B 7.0; R 54.0; T 45.3. 	ACCEPT 0 (L -5.00, dir nan, ss 1.0): 	A(1393530.952595)=(AV 4.625). Num: A(8144) + M(35736); ab -0.000027 -7.002813!
Optimized scale: 0.760244
Dynamic weight: 1
STEPS: A 0.0; B 1.6; R 1.9; T 3.6. 	REJECT 1 (L -5.00, dir 0.23, ss 1.0): 	A(1434222.438504)=(AV 4.699). Num: A(8118) + M(35736); ab -0.000016 -6.850309!
Dynamic weight: 1
STEPS: A 0.0; B 1.6; R 1.6; T 1.9. 	REJECT 2 (L -3.00, dir 0.67, ss 1.0): 	A(1434039.078252)=(AV 4.699). Num: A(8118) + M(35736); ab -0.000016 -6.851277!
Dynamic weight: 1
STEPS: A 0.0; B 1.2; R 0.3; T 0.8. 	REJECT 3 (L -1.00, dir 0.77, ss 1.0): 	A(1432385.235909)=(AV 4.696). Num: A(8118) + M(35736); ab -0.000017 -6.895350!
Dynamic weight: 1
STEPS: A 0.0; B 0.1; R 0.0; T 0.0. 	REJECT 4 (L 1.00, dir 0.85, ss 1.0): 	A(1427214.858555)=(AV 4.688). Num: A(8118) + M(35736); ab -0.000026 -6.995111!
Num BA Iterations done: 5
Error: Not Eq:
-6.73509e-05 -3.98478e-05  3.01999e-05 -7.31209e-09  1.30427e-08 -2.78251e-08
-3.98478e-05 -4.44526e-05  4.78257e-05  1.85159e-08  1.43971e-08 -2.13536e-08
 3.01999e-05  4.78257e-05 -5.64214e-05 -3.26859e-08 -1.63767e-08  2.18551e-08
-7.31209e-09  1.85159e-08 -3.26859e-08 -5.60378e-11  2.72399e-10 -9.15505e-11
 1.30427e-08  1.43971e-08 -1.63767e-08  2.72399e-10    1.582e-10 -2.14103e-11
-2.78251e-08 -2.13536e-08  2.18551e-08 -9.15505e-11 -2.14103e-11 -1.12186e-11
first:
     3.30707     0.977633    -0.251573  0.000916987 -7.55153e-07 -1.16048e-05
    0.977633      1.64606     -1.91115  0.000228962  0.000445313  -0.00032959
   -0.251573     -1.91115      2.67072  3.21103e-05 -0.000628347  0.000464945
 0.000916987  0.000228962  3.21103e-05  0.000194585    1.122e-05  8.35902e-07
-7.55153e-07  0.000445313 -0.000628347    1.122e-05  0.000189684  -7.9984e-06
-1.16048e-05  -0.00032959  0.000464945  8.35902e-07  -7.9984e-06  0.000167261
second
     3.30714     0.977673    -0.251603  0.000916994 -7.68196e-07  -1.1577e-05
    0.977673       1.6461      -1.9112  0.000228943  0.000445299 -0.000329568
   -0.251603      -1.9112      2.67077   3.2143e-05 -0.000628331  0.000464923
 0.000916994  0.000228943   3.2143e-05  0.000194585  1.12198e-05  8.35994e-07
-7.68196e-07  0.000445299 -0.000628331  1.12198e-05  0.000189684 -7.99838e-06
 -1.1577e-05 -0.000329568  0.000464923  8.35994e-07 -7.99838e-06  0.000167261
Max diff: 6.73509e-05
 0# void dmvio::assertEqEigen<Eigen::Matrix<double, -1, -1, 0, -1, -1> >(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, double) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 1# dmvio::BAIMULogic::computeFactorForCoarseGraphAndMarginalCovariances() in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 2# dmvio::BAIMULogic::postOptimization(int) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 3# dmvio::IMUIntegration::postOptimization(int) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 4# dso::FullSystem::makeKeyFrame(dso::FrameHessian*) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 5# dso::FullSystem::deliverTrackedFrame(dso::FrameHessian*, bool) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 6# dso::FullSystem::addActiveFrame(dso::ImageAndExposure*, int, std::vector<dmvio::IMUMeasurement, std::allocator<dmvio::IMUMeasurement> >*, dmvio::GTData*) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 7# run(ImageFolderReader*, dso::IOWrap::PangolinDSOViewer*) in /home/ran/CLionProjects/dm-vio/cmake-build-debug/bin/dmvio_dataset
 8# 0x00007F028FBE0BCD in /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1
 9# 0x00007F028E8BD6DB in /lib/x86_64-linux-gnu/libpthread.so.0
10# clone in /lib/x86_64-linux-gnu/libc.so.6
dmvio_dataset: /home/ran/CLionProjects/dm-vio/src/GTSAMIntegration/ExtUtils.h:61: void dmvio::assertEqEigen(const T&, const T&, double) [with T = Eigen::Matrix<double, -1, -1>]: Assertion `0' failed.

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

When I run make .. :

The referred codeline:
add_executable(dmvio_dataset ${PROJECT_SOURCE_DIR}/src/main_dmvio_dataset.cpp)
After make .. ; the cpp file is created but make -j will show error that dmvio_dataset is missing.
How to fix it? Should I add path to the dataset‘s pwd?