JackyLiu
JackyLiu
If your fisheye model code works fine on opencv sample K, D, I suspect that TUM-VI gave a wrong K,D. To verify this guess, we need to calibrate TUM-VI by...
@lrxjason [current version 60d21c7](https://github.com/HTLife/VINet/commit/60d21c7c1e0b99abf14deaee6fb5d22d563e45b2) won't converge. Which DeepVO GitHub repo did you use? This implementation of VINet is still under tuning. The [current version 60d21c7](https://github.com/HTLife/VINet/commit/60d21c7c1e0b99abf14deaee6fb5d22d563e45b2) still have some part didn't...
As VINet mentioned, they found it hard to converge by simply training on the frame to frame pose change. They take accumulated global pose (pose related to the starting point)...
## About global pose I think they are not using global pose directly. Instead, they use the "difference" between global pose and accumulated pose. This loss design might reduce the...
"SE3 composition layer" been mentioned in VINet might be related to [gvnn](https://github.com/ankurhanda/gvnn). Since the PyTorch implementation is not available (gvnn is implement in torch), I replace the "SE3 composition layer"...
@copark86 I haven't noticed about passing RNN hidden state to next batch! That might be important. Also, I'll find some time to replace "matrix multiplication implementation of acc SE3" with...
## About the magic number of reading IMU data @copark86 Sorry for that magic number. The EuRoC MAV dataset synchronized the camera and imu time. There is one imu record...
## About read_R6TrajFile dimension @copark86 The corresponding part is been showed in the following figure:  1. I calculate the relative pose (x y z ww wx wy wz) from...
@copark86 Let me redescribe it. ## IMU => no sampling We should use the raw data of IMU(x,y,z,wx,wy,wz). The IMU sequence length could be span for 8 images (arbitrary number)....
@copark86 VICON R6 conversion code is been updated. [e8d72ea ](https://github.com/HTLife/VINet/commit/e8d72ea74915152c2abaaa5b5e789bc8afc63097) See `scripts/convertSampledTrajToR6.py` The original r6 file is incorrect, which convert sampled_relative from `x y z ww wx wy wz` into...