No IMU measurements to propagate with (0 of 2) #525
Description
Hi,
I compiled the newest master branch with appropriate dependencies (including OpenCV 4.12) from sources on Debian 12 PC. I'm using TUM VI dataset (corridor1 512x512 with both cameras) using ROS-free aproach. YAML files as well as camera masks are taken directly from folder /config/tum_vi.
Shortly after initialization i receiving following output:
parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
[init]: disparity is 5.236,7.723 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 7.888,8.015 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.785,8.095 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.887,7.011 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 9.818,6.569 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 9.684,6.665 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 9.475,5.075 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 10.082,3.486 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 11.037,5.007 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 12.217,5.462 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 13.251,3.551 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 13.531,2.229 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 12.781,5.398 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 11.927,7.514 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 11.256,7.135 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 10.237,4.268 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 9.875,0.953 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 7.963,3.650 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 7.237,4.378 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 6.888,2.685 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 6.581,2.400 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 6.120,5.525 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 5.326,7.186 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.297,6.598 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.697,3.915 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.915,3.503 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.751,4.939 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.463,5.223 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 5.345,4.593 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.707,4.866 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.316,5.236 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.127,3.581 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.064,2.679 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 1.330,7.434 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 1.130,13.391 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 1.583,18.694 (15.00 thresh)
[init-s]: to much IMU excitation, above threshold 0.450 > 0.450
[init]: disparity is 3.511,21.225 (15.00 thresh)
[init-s]: to much IMU excitation, above threshold 0.472 > 0.450
[init]: disparity is 5.599,20.758 (15.00 thresh)
[init-s]: to much IMU excitation, above threshold 0.512 > 0.450
[init]: disparity is 6.702,18.546 (15.00 thresh)
[init-s]: to much IMU excitation, above threshold 0.547 > 0.450
[init]: disparity is 6.513,15.860 (15.00 thresh)
[init-s]: to much IMU excitation, above threshold 0.584 > 0.450
[init]: disparity is 5.676,13.958 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.990,12.593 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.263,11.661 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.121,10.233 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 1.985,7.671 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.222,4.458 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.923,4.223 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.589,7.063 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.136,9.853 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 13.102,10.864 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 17.306,10.174 (15.00 thresh)
[init]: failed static init: no accel jerk detected, platform moving too much
[init]: disparity is 19.342,8.344 (15.00 thresh)
[init]: failed static init: no accel jerk detected, platform moving too much
[init]: disparity is 18.906,6.648 (15.00 thresh)
[init]: failed static init: no accel jerk detected, platform moving too much
[init]: disparity is 16.669,5.491 (15.00 thresh)
[init]: failed static init: no accel jerk detected, platform moving too much
[init]: disparity is 14.097,4.792 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 12.580,4.141 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 12.003,3.356 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 11.651,3.277 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 10.754,4.300 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 9.265,5.332 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.354,5.218 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 5.558,4.787 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.343,4.160 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.603,3.828 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 5.368,3.582 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.176,3.596 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 10.363,3.980 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 11.258,4.313 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 10.677,4.007 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 8.102,4.097 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.572,2.390 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.821,2.487 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 2.711,3.044 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.362,3.586 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.919,4.254 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.298,5.523 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.695,6.421 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.909,6.516 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.670,5.983 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.155,5.333 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.641,5.310 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.231,5.401 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.480,5.295 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.158,5.755 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.808,6.626 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.557,7.768 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.810,9.041 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 3.603,10.874 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 4.104,14.269 (15.00 thresh)
[init]: failed static init: no accel jerk detected
[init]: disparity is 5.056,18.454 (15.00 thresh)
[init-s]: no IMU excitation, below threshold 0.436 < 0.450
[init]: disparity is 5.814,23.458 (15.00 thresh)
[init-s]: no IMU excitation, below threshold 0.425 < 0.450
[init]: disparity is 6.512,28.354 (15.00 thresh)
[init]: successful initialization in 0.0006 seconds
[init]: orientation = 0.0141, 0.0040, 0.9999, 0.0001
[init]: bias gyro = 0.0389, 0.0172, -0.0162
[init]: velocity = 0.0000, 0.0000, 0.0000
[init]: bias accel = -0.0016, -0.0004, -0.0558
[init]: position = 0.0000, 0.0000, 0.0000
q_GtoI = -0.030,0.077,-0.995,0.048 | p_IinG = -0.425,0.077,0.176 | dist = 0.00 (meters)
bg = 0.0326,0.0115,-0.0155 | ba = -0.0031,0.0028,-0.0570
camera-imu timeoffset = -0.00608
cam0 intrinsics = 190.980,190.942,254.886,256.906 | 0.004,0.001,-0.002,0.000
cam1 intrinsics = 190.426,190.493,252.674,254.928 | 0.003,0.002,-0.003,0.000
cam0 extrinsics = -0.013,-0.695,0.719,0.008 | 0.045,-0.048,-0.068
cam1 extrinsics = -0.014,-0.712,0.702,0.008 | -0.052,-0.046,-0.072
q_GtoI = -0.025,0.061,-0.996,0.052 | p_IinG = -0.477,0.140,0.144 | dist = 0.03 (meters)
bg = 0.0125,-0.0013,-0.0048 | ba = -0.0024,0.0025,-0.0378
camera-imu timeoffset = 0.00691
cam0 intrinsics = 190.762,191.198,254.012,257.040 | 0.003,-0.000,-0.003,0.001
cam1 intrinsics = 190.305,190.226,251.409,255.021 | 0.003,0.002,-0.003,0.000
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.045,-0.065
cam1 extrinsics = -0.013,-0.712,0.702,0.008 | -0.051,-0.046,-0.070
q_GtoI = -0.026,0.052,-0.996,0.065 | p_IinG = -0.522,0.137,0.118 | dist = 0.07 (meters)
bg = 0.0117,-0.0021,-0.0025 | ba = -0.0025,0.0026,-0.0372
camera-imu timeoffset = 0.00658
cam0 intrinsics = 190.809,191.030,253.904,256.902 | 0.003,-0.000,-0.003,0.001
cam1 intrinsics = 190.344,190.153,251.440,254.809 | 0.003,0.001,-0.003,0.001
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.044,-0.063
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.052,-0.045,-0.068
q_GtoI = -0.024,0.044,-0.996,0.076 | p_IinG = -0.549,0.135,0.094 | dist = 0.11 (meters)
bg = 0.0104,-0.0014,-0.0042 | ba = -0.0025,0.0026,-0.0369
camera-imu timeoffset = 0.00617
cam0 intrinsics = 191.004,191.008,253.819,256.818 | 0.003,-0.001,-0.003,0.001
cam1 intrinsics = 190.379,189.989,251.389,254.693 | 0.003,0.001,-0.003,0.001
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.044,-0.061
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.052,-0.044,-0.068
q_GtoI = -0.018,0.038,-0.996,0.084 | p_IinG = -0.577,0.131,0.067 | dist = 0.15 (meters)
bg = 0.0086,-0.0014,-0.0046 | ba = -0.0025,0.0026,-0.0376
camera-imu timeoffset = 0.00573
cam0 intrinsics = 190.926,191.042,253.829,256.809 | 0.002,-0.001,-0.003,0.001
cam1 intrinsics = 190.291,190.002,251.431,254.668 | 0.003,0.001,-0.003,0.001
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.044,-0.061
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.052,-0.044,-0.068
q_GtoI = -0.013,0.036,-0.995,0.091 | p_IinG = -0.601,0.126,0.040 | dist = 0.18 (meters)
bg = 0.0086,-0.0014,-0.0046 | ba = -0.0025,0.0026,-0.0376
camera-imu timeoffset = 0.00573
cam0 intrinsics = 190.926,191.042,253.829,256.809 | 0.002,-0.001,-0.003,0.001
cam1 intrinsics = 190.291,190.002,251.431,254.668 | 0.003,0.001,-0.003,0.001
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.044,-0.061
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.052,-0.044,-0.068
q_GtoI = -0.005,0.035,-0.995,0.095 | p_IinG = -0.622,0.119,0.012 | dist = 0.22 (meters)
bg = 0.0065,-0.0015,-0.0052 | ba = -0.0024,0.0025,-0.0373
camera-imu timeoffset = 0.00515
cam0 intrinsics = 190.926,191.048,253.822,256.808 | 0.002,-0.001,-0.003,0.001
cam1 intrinsics = 190.284,190.002,251.419,254.657 | 0.003,0.001,-0.003,0.001
cam0 extrinsics = -0.013,-0.695,0.719,0.009 | 0.042,-0.044,-0.061
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.052,-0.044,-0.068
q_GtoI = -0.001,0.034,-0.993,0.109 | p_IinG = -0.622,0.109,-0.028 | dist = 0.25 (meters)
bg = 0.0053,0.0029,-0.0207 | ba = -0.0019,0.0016,-0.0254
camera-imu timeoffset = 0.00289
cam0 intrinsics = 191.016,190.763,253.155,257.698 | 0.001,-0.003,-0.005,0.002
cam1 intrinsics = 190.460,189.770,250.943,255.488 | 0.001,-0.001,-0.005,0.002
cam0 extrinsics = -0.012,-0.695,0.719,0.008 | 0.041,-0.045,-0.063
cam1 extrinsics = -0.013,-0.712,0.702,0.009 | -0.051,-0.043,-0.069
q_GtoI = 0.004,0.033,-0.993,0.114 | p_IinG = -0.627,0.099,-0.049 | dist = 0.28 (meters)
bg = 0.0061,0.0036,-0.0221 | ba = -0.0020,0.0014,-0.0273
camera-imu timeoffset = 0.00348
cam0 intrinsics = 190.994,190.700,253.146,257.720 | 0.001,-0.003,-0.005,0.003
cam1 intrinsics = 190.549,189.897,251.005,255.479 | 0.001,-0.001,-0.005,0.002
cam0 extrinsics = -0.013,-0.695,0.719,0.008 | 0.042,-0.049,-0.064
cam1 extrinsics = -0.014,-0.712,0.702,0.009 | -0.053,-0.045,-0.068
q_GtoI = 0.012,0.027,-0.993,0.114 | p_IinG = -0.665,0.092,-0.074 | dist = 0.31 (meters)
bg = 0.0027,0.0010,-0.0153 | ba = -0.0029,0.0033,-0.0296
camera-imu timeoffset = 0.00202
cam0 intrinsics = 190.880,190.065,253.161,258.028 | -0.000,-0.002,-0.004,0.002
cam1 intrinsics = 190.358,189.184,251.138,255.639 | 0.000,-0.000,-0.004,0.002
cam0 extrinsics = -0.012,-0.695,0.719,0.007 | 0.040,-0.041,-0.059
cam1 extrinsics = -0.013,-0.712,0.702,0.008 | -0.055,-0.037,-0.063
q_GtoI = 0.012,0.021,-0.993,0.118 | p_IinG = -0.677,0.085,-0.096 | dist = 0.33 (meters)
bg = 0.0025,0.0015,-0.0129 | ba = -0.0029,0.0031,-0.0261
camera-imu timeoffset = 0.00151
cam0 intrinsics = 190.810,190.126,253.120,258.052 | -0.000,-0.002,-0.003,0.002
cam1 intrinsics = 190.262,189.231,251.108,255.685 | 0.000,0.000,-0.004,0.002
cam0 extrinsics = -0.012,-0.695,0.719,0.007 | 0.040,-0.041,-0.059
cam1 extrinsics = -0.013,-0.712,0.702,0.008 | -0.055,-0.037,-0.063
q_GtoI = 0.013,0.015,-0.992,0.123 | p_IinG = -0.683,0.079,-0.109 | dist = 0.34 (meters)
bg = 0.0006,0.0012,-0.0116 | ba = -0.0033,0.0038,-0.0253
camera-imu timeoffset = 0.00091
cam0 intrinsics = 190.856,190.190,253.030,257.904 | 0.001,-0.002,-0.004,0.002
cam1 intrinsics = 190.259,189.244,251.036,255.539 | -0.000,-0.000,-0.004,0.001
cam0 extrinsics = -0.011,-0.695,0.719,0.006 | 0.039,-0.040,-0.055
cam1 extrinsics = -0.012,-0.712,0.702,0.008 | -0.057,-0.037,-0.061
q_GtoI = 0.016,0.013,-0.991,0.130 | p_IinG = -0.682,0.076,-0.112 | dist = 0.35 (meters)
bg = 0.0006,0.0010,-0.0119 | ba = -0.0033,0.0038,-0.0248
camera-imu timeoffset = 0.00085
cam0 intrinsics = 190.849,190.173,253.011,257.914 | 0.001,-0.002,-0.004,0.002
cam1 intrinsics = 190.252,189.243,251.049,255.560 | -0.000,-0.000,-0.004,0.001
cam0 extrinsics = -0.011,-0.695,0.719,0.006 | 0.039,-0.040,-0.055
cam1 extrinsics = -0.012,-0.712,0.702,0.008 | -0.057,-0.037,-0.061
q_GtoI = 0.020,0.016,-0.991,0.132 | p_IinG = -0.685,0.080,-0.107 | dist = 0.36 (meters)
bg = 0.0015,-0.0006,-0.0077 | ba = -0.0041,0.0041,-0.0210
camera-imu timeoffset = 0.00050
cam0 intrinsics = 191.100,189.741,252.763,258.044 | -0.000,-0.002,-0.003,0.002
cam1 intrinsics = 190.388,188.871,250.922,255.514 | -0.000,-0.000,-0.004,0.002
cam0 extrinsics = -0.012,-0.696,0.718,0.006 | 0.038,-0.044,-0.057
cam1 extrinsics = -0.013,-0.712,0.702,0.008 | -0.059,-0.042,-0.061
q_GtoI = 0.023,0.022,-0.991,0.134 | p_IinG = -0.681,0.083,-0.089 | dist = 0.38 (meters)
bg = 0.0014,-0.0005,-0.0069 | ba = -0.0048,0.0058,-0.0196
camera-imu timeoffset = 0.00033
cam0 intrinsics = 190.973,189.679,252.741,257.992 | -0.000,-0.002,-0.003,0.002
cam1 intrinsics = 190.286,188.863,250.789,255.500 | -0.000,-0.000,-0.004,0.001
cam0 extrinsics = -0.012,-0.696,0.718,0.006 | 0.037,-0.046,-0.055
cam1 extrinsics = -0.013,-0.712,0.702,0.007 | -0.059,-0.044,-0.060
Propagator::select_imu_readings(): No IMU measurements to propagate with (0 of 2). IMU-CAMERA are likely messed up!!!
vins_app: /home/emozdzen/repos/open_vins/ov_msckf/src/state/Propagator.cpp:101: void ov_msckf::Propagator::propagate_and_clone(std::shared_ptr<ov_msckf::State>, double): Assertion `std::abs((time1 - time0) - dt_summed) < 1e-4' failed.
Aborted
If I run the the same data (with original timestamps from dataset) but using half of the real world time, then everything works fine. I also successfully tried using only half of the images (in real-time this time). I'm using same results also for monocular approach (only imu0 and cam0).
What can I do with this? I'm assuming that I have done something wrong. My example project is in the attachment.