Testing with Mobile Data Set

[TouqeerAhmad]

@gaoxiang12
Hi, I was wondering if this code has been successfully tested with any data sets from Mobile devices specifically android phones? I am trying to use data from S7/S8 but the trajectory flies away right after the IMU pre-integration is done and the map scale is updated.

This is the log I get right after it notifies that scale has been updated.

... Map scale updated ...

I1006 17:02:54.859149 29501 LocalMapping.cc:151] set first vins inited : 1
I1006 17:02:54.872421 29496 Tracking.cc:1481] Track local map direct with imu failed, inliers: 0
I1006 17:02:54.872447 29496 Tracking.cc:604] Track Local map direct with IMU failed. VINS first inited: 1, mapupdated:0
I1006 17:02:54.872462 29496 Tracking.cc:631] Set vision weak = true
I1006 17:02:54.872568 29496 Tracking.cc:728] Try using imu predicted pose
I1006 17:02:54.903020 29496 Tracking.cc:753] In the ELSE condition ... at line 753 ... bOK = 1
I1006 17:02:54.930971 29496 Tracking.cc:1476] Track local map direct with imu failed, inliers: 0
I1006 17:02:54.931025 29496 Tracking.cc:604] Track Local map direct with IMU failed. VINS first inited: 1, mapupdated:0
I1006 17:02:54.931030 29496 Tracking.cc:631] Set vision weak = true
I1006 17:02:54.931133 29496 Tracking.cc:728] Try using imu predicted pose
I1006 17:02:54.959718 29496 Tracking.cc:753] In the ELSE condition ... at line 753 ... bOK = 1
I1006 17:02:54.972455 29496 Tracking.cc:2433] Failed. return back to feature methods
I1006 17:02:54.991106 29496 Tracking.cc:1254] Search a wider window
I1006 17:02:54.991160 29496 Tracking.cc:1260] Match is not enough, failed.

P.S. I used Kalibr for calibrating Camera-IMU