Test on TUM-VI dataset

[zang09]

Did you test on TUM-VI dataset?
In my case, EuroC dataset is working well, but in TUM dataset there is no feature on image!!

Do you have any idea???

[xiefei2929]

I haven't test on TUM-VI dataset. Let me see see.

[xiefei2929]

Did you test on TUM-VI dataset?
In my case, EuroC dataset is working well, but in TUM dataset there is no feature on image!!

Do you have any idea???

我分析，这两个数据集的相机畸变的参数不一样，问题可能出在这了

[zang09]

but i use tum_512.yaml file parameters not in euroc.yaml file!

[xiefei2929]

EuroC Camera.type: "PinHole" Tum_512.yaml Camera.type: "KannalaBrandt8"
They have totally different parameters which need to be dealt with separately.