Check the directory open_vins_trajectory
- Use the tracking_seminar.ipynb
- Check from code_box 4 { i.e. find_delays_all_modules() }
- finds all the relevant results
- The data files are sorted in the order of the frequency they were executed.
- For the tum_vi you will find folders named as "tum_vi_descr_20hz.txt" & "tum_vi_20hz.txt", the ones with the "descr" means that I have used ORB method for tracking, and the ones without descr means that KLT(optical flow) has been used for tracking. Open_VINS authors have mentioned that their ORB/feature based tracking isnt working well in all scenarios, so I have skipped for Euroc.