Mingyu Chen

Please email the files in ~/mapRecord/navigation to us at [email protected]. Thanks.

On my machine, `trajectory_maker` works fine with your data. The error message: ``` Waypoints load failed, filename: /waypoints.csv ```` suggests that the filename is *NOT* complete. I suspect your gflag...

The navi.sh is not even executed correctly, and app_tracking is NOT even launched. Please check carefully your spelling or even simply type everything directly at your terminal. We're using bash...

https://github.com/baidu/boteye/blob/master/include/XP/app_api/pose_packet.h#L148

https://github.com/baidu/boteye/blob/master/apps/app_tracking/app_guide_receiver.cpp#L57 ``` [0.00,-0.26,1] linear velocity = 0 (m/s) angular velocity = -0.26 (rad/s) 1 = Status::OK ```

``` enum Status { FAIL = 0, OK = 1, STOP = 2, FINISH = 3, LOST = 4, OBSTACLE_AVOID = 5, MANUAL = 6 }; ```

"VIO lost" in Navigation mode means either 1) the vio is lost, or 2) the relocalization fails.

Try ``` ./app_tracking -sensor_type XXX -cabli_file /path/to/your/calib.yaml -pb_load /path/to/your/map.pb ``` And see if you can successfully reloc to the map. If still not, please provide us your map.pb and do...

Reloc is done and successful. You can move around and see the cursor moving around. The visualization is different when building / loading a map.

A1: ``` Imu: corrected_accel = accel_TK * (raw_accel - accel_bias) corrected_gyro = gyro_TK * (raw_gyro - gyro_bias) accel_noise_var: the noise std ^2 angv_noise_var: the noise std ^2 D_T_I: The transformation...