Mingyu Chen

This is a very interesting scene that we have never encountered before. I'll try to answer all three questions at once. The VIO part will work in your environment for...

@MengNan-Li Sorry that we cannot reproduce this issue on our side. Could you elaborate more on your setup and environment? Also, the issue may be caused by bad USB connection...

1. 無法檢測. Stereo disparity算法本身的限制. 2. https://github.com/baidu/boteye/blob/master/include/XP/app_api/xp_tracker.h#L271 and https://github.com/baidu/boteye/blob/master/apps/app_tracking/app_tracking.cpp#L721

https://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#imwrite

Where do you put your lib_x86_64? According to the cmake file (https://github.com/baidu/boteye/blob/master/cmake/XP_lib_helper.cmake#L17), it should be located at the base directory of the boteye repo, `/home/slog/be/boteye/lib_x86_64` in your case.

Please try to download lib_x86_64 again here: https://ai.baidu.com/sdk#roboticvision, and let us know if this solves your problem.

We will have a update soon. Appreciate your patience.

@Markbess This is awesome!!!

@MengNan-Li I assume you want to retrieve the disparity map. We actually expose the depth (xyz in the camera coordinate) converted from the disparity map. Below is the example code...

1. cam_calib_path -> calib_file