RoboticCoder

@YanhaoZhang @gaowenliang do you figure out the param max_cluster meaning?,,,i think it refers to the delt-t meaning the noise sampling time, but i don't know the unit of the max_clustering.....

ok.thank u...observing from the calib file, seems like I need to change the extrinsic param "D_T_C_r"..I would retry to calibrate it by kalibr

[report-imucam-homelingdata.pdf](https://github.com/baidu/boteye/files/3098093/report-imucam-homelingdata.pdf) here is my kalibr calibration result,,,the reprojection error is around 0.5pix ,,and seems like the timeshift between cam and imu is very bad(i don't know why..) Anyway, i change...

i think that "path" needs an empty folder, u can try it.

but the tracking program would suddenly exit without any map saved when this error(or warning) occurs. is there any running condition to avoid this problem? cause i am running it...

yeah, it would crash just like the LOG file described above E0312 13:23:29.036715 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 125 ms map points # 59541 add_constraints_ms 116 ceres_solution_ms 8...

hi, does it finished?,or maybe the app_pose_receiver can obtain the vio result ?

Hello, I am new to this field, would u please tell me what's the meaning of the "objectError", I don't know why the formula is like this "(reprojectionError / dist(imagePoints[0],...

hey , did u solve this problem? i got the same situation.

换个编译器，我在3588上同样的问题解决了，用官方的 https://gitlab.com/firefly-linux/prebuilts/gcc/linux-x86/aarch64/gcc-buildroot-9.3.0-2020.03-x86_64_aarch64-rockchip-linux-gnu