since
**residual = sel * sqrt_info * reprojection_error，

so when calculating the jacobians about td, (jacobian_td)
assuming (reduce) has not multiplied by (sqrt_info) yet
it should be
**jacobian_td = sel * sqrt_info * ( reduce * ric.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + velocity_j.head(2) )

(velocity_j.head(2)) should multiply by (sel * sqrt_info)
**sel * sqrt_info * velocity_j.head(2)

but in the code
**jacobian_td = sel * reduce * ric.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + sqrt_info * velocity_j.head(2)

(sqrt_info * velocity_j.head(2)) has not multiplied by (sel) yet, why??
do I misunderstand anything?

if estimate_extrinsic =2 in config file, will it work like VINS mono or VINS fusion?

setting /run_id to aa40f6e2-4bc9-11ed-b6cc-39fbbb89194e
WARNING: Package name "dynaVINS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [41566]
started core service [/rosout]
process[vins_estimator-2]: started with pid [41569]
process[rviz_dynaVINS-3]: started with pid [41573]
[ INFO] [1665756504.065368265]: init begins
config_file: /home/djx/dynavins_ws/src/dynaVINS-main/config/viode/calibration_mono.yaml
USE_IMU: 1￩
IMU_TOPIC: /imu0
result path /home/seungwon/.ros/dynaVINS/vio.csv
[ WARN] [1665756504.071695999]: fix extrinsic param
camera number 1
[ INFO] [1665756504.072343587]: Synchronized sensors, fix time offset: 0
[ INFO] [1665756504.072363637]: ROW: 480 COL: 752
exitrinsic cam 0
0 0 1
1 0 0
0 1 0
0 0 0
set g 0 0 9.81007
[ INFO] [1665756504.072422199]: reading paramerter of camera /home/djx/dynavins_ws/src/dynaVINS-main/config/viode/cam0_pinhole.yaml

and then the process has died

[vins_estimator-2] process has died [pid 41569, exit code -11, cmd /home/djx/dynavins_ws/devel/lib/dynaVINS/vins_node /home/djx/dynavins_ws/src/dynaVINS-main/config/viode/calibration_mono.yaml __name:=vins_estimator __log:=/home/djx/.ros/log/aa40f6e2-4bc9-11ed-b6cc-39fbbb89194e/vins_estimator-2.log].
log file: /home/djx/.ros/log/aa40f6e2-4bc9-11ed-b6cc-39fbbb89194e/vins_estimator-2*.log

help me pls ! 3q.

This ideo is expired.

I have used VIODE datasets to test the dynaVINS, and got results as better as the paper write. However, when I use the Euroc datasets to test the dynaVINS, I find that, the dynaVINS cannot get a correct results, the results is not convergence. Have you tried other datasets except other open datasets except the paper used.

could you please provide the VIODE_Dataset groundtruth to me or any link to download?

Hi, I want to test your code but I don't know how to set the camera_models package in workspace, should I specify in Cmakelist or try other way?

When I run in kitii data set, why are the weighted feature full of red dots?I modified config with reference to the mono file.

%YAML:1.0

#common parameters
imu: 1
num_of_cam: 1

imu_topic: "/imu_raw"
image0_topic: "/kitti/camera_gray_left/image_raw"
image1_topic: "/kitti/camera_gray_left/image_raw"
output_path: "/home/gzy/dynavins_ws/src/output/"

cam0_calib: "cam04-12.yaml"
cam1_calib: "cam04-12.yaml"
image_width: 1241
image_height: 376

Extrinsic parameter between IMU and Camera.

estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.

body_T_cam0: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1]

body_T_cam1: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [1, 0, 0, 0.537150653267924,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1]

#Multiple thread support
multiple_thread: 4

#feature traker paprameters
max_cnt: 150 # max feature number in feature tracking
min_dist: 15 # min distance between two features
freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
F_threshold: 2.0 # ransac threshold (pixel)
max_depth: 5.0 # max estimated depth (m)
show_track: 1 # publish tracking image as topic
show_image_feat_weight: 1
flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy

#dynaVINS parameters
dyna_on: true # do not change it to false
regularization_lambda: 2.0
momentum_on: true
momentum_lambda: 0.2
alternating_converge: 0.9
margin_feature_thresh: 0.1

#optimization parameters
max_solver_time: 3 # max solver itration time (s), to guarantee real time
max_num_iterations: 10 # max solver itrations, to guarantee real time
keyframe_parallax: 10.0 # keyframe selection threshold (pixel)

#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02
gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.81007 # gravity magnitude

#unsynchronization parameters
estimate_td: 0 # online estimate time offset between camera and imu
td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)

Look forward to your advice

How do I run the actual scenario using Realsence D455? Need to do some configuration?

can u please help us in finding package camera_models

Hi, thanks for your great work!

But when I visit the link of Our dataset，I got an network error. Could you please upload Our dataset to GoogleDrive or OneDrive?