robin-shaun / event-slam-accumulator-settings Goto Github PK

Hello,
Thank you for sharing this code. It is very helpful.
I have a problem when I want to run on a rosbag.
1- After runing source ~/catkin_ws/devel/setup.bash, I run this roslaunch vins vins_rviz.launch
2- Then in another terminal, I run rosrun vins vins_node /home/mohsen/accum_ws/src/VINS-Fusion/config/davis/rpg_240_mono_imu_config.yaml
3- I run rosbag play dynamic_6dof.bag in the folder that I downloaded the rosbag data.
I face this command in the second terminal
[ INFO] [1704234252.352748230]: init begins config_file: /home/mohsen/accum_ws/src/VINS-Fusion/config/davis/rpg_240_mono_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /dvs/imu result path ~/output//vio.csv [ WARN] [1704234252.359865502]: fix extrinsic param camera number 1 [ INFO] [1704234252.361636384]: Unsynchronized sensors, online estimate time offset, initial td: 0.0025 [ INFO] [1704234252.361667502]: ROW: 180 COL: 240 exitrinsic cam 0 0.999918 -0.0119707 0.00445458 0.0119468 0.999914 0.00534932 -0.00451823 -0.00529567 0.999976 0.0046474 -0.00591917 0.0298731 set g 0 0 9.81007 [ INFO] [1704234252.361789019]: reading paramerter of camera /home/mohsen/accum_ws/src/VINS-Fusion/config/davis/davis240_pinhole.yaml MULTIPLE_THREAD is 1 [ WARN] [1704234252.361990665]: waiting for image and imu...
and it did not change while the rosbag was playing.
I would appreciate it if I have to do anything else.
Thank you in advance for your attention.

Hi,
When I run the code on the bag boxes_6dof mentioned in your paper, the result is quite bad, as shown in the following image.

Is this the problem of the configuration? If so, could you provide the config you used?

Thanks a lot.