pvangoor / eqvio Goto Github PK

Eqvio is a marvellous work and I have tested it with euroc dataset in asl format. However, when I try to run it with rosbag like this:

./build/eqvio_opt /home/heron/xxx/Codes/ESKF/data/euroc/V1_02_medium/V1_02_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

Error message:

No camera intrinsics were not found at
/home/heron/xxx/Codes/ESKF/data/euroc/V1_02_medium/intrinsics.yaml

I've looked through the asl format for.yaml files, but I'm not sure what format intrinsics.yaml is in. Could you please provide me the ros configuration file intrinsics.yaml? That would be really appreciated.

Hello, thank you very much for publishing this creative work. However, currently I have some development issues. When I imported data in the form of rosbag, I found that some sequences of EuRoC have degradation on EqVIO. Especially when these initializations are in motion or not strictly stationary. They don't seem to be very robust. Can you provide some improvement ideas or how to better deploy them in the operating environment of ROS?

Hi, and thanks for making this code available. i have an existing SLAM system that I want to add IMU data to, to both smooth the data output and allow for the imu to predict pose when features are lost for a short time.

Is this code suitable for that task?

Thanks!

Hello, thank you for your dedication to providing this code. Now the output is only the camera trajectory, how do I get the final filtered trajectory fused with the camera and IMU?