lihanlun

Hi mihaidusmanu Thanks a lot for your amazing work and kind sharing. I am very sorry to bother you. I found that the output of refine_matches_coarse_to_fine always less than one...

Oh, I understand. Thank you very very much for your help.

I have checked it, and can not find the problem. My euroc config file as flows, could you help me check it? # Extrinsic parameter between IMU and Camera. estimate_extrinsic:...

cam0 config file as fellows: model_type: PINHOLE camera_name: camera image_width: 752 image_height: 480 distortion_parameters: k1: -2.9545645106987750e-01 k2: 8.6623215640186171e-02 p1: 2.0132892276082517e-06 p2: 1.3924531371276508e-05 projection_parameters: fx: 4.6115862106007575e+02 fy: 4.5975286598073296e+02 cx: 3.6265929181685937e+02 cy:...

cam1 config file as fellows: model_type: PINHOLE camera_name: camera image_width: 752 image_height: 480 distortion_parameters: k1: -2.9294124381930947e-01 k2: 8.4798002331543665e-02 p1: -2.9984646536002372e-04 p2: 3.0028216325237329e-04 projection_parameters: fx: 4.6009781682258682e+02 fy: 4.5890983492218902e+02 cx: 3.7314916359808268e+02 cy:...

Or, Could you share your euroc config files?

Thank you for your share information. When I use euroc MH01, at the beginning it is OK, then show the wrong traj ( traj as straight line). Now I find...

I think the code should fix feature_weight first then fix others and optimize feature_weight. A very big problem is that the results get worse.

> Problem solved! I replace the yaml "cam0_pinhole.yaml" and "cam1_pinhole.yaml" with "cam0_mei.yaml" and "cam0_mei.yaml", it work and output the right trajectory! I dont know why "cam0_pinhole.yaml" and "cam1_pinhole.yaml" are not...