brisk about ice-ba

[wangjio]

Yes,it's a brisk lib, https://github.com/gwli/brisk.git. I'll update our readme soon. @guofengw @michaelczhou
Make sure your EuRoC directory structure is same to the origin EuRoC dataset from https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#downloads. @Zekegao
For example, if you want to run MH_03_medium, download the origin data, it should be a folder called mav0 after decompressing the MH_03_medium.zip, paste it into a folder created by yourself called MH_03_medium, maybe it absolute path is "~/dataset/MH_03_medium", then your scripts should be:

EuRoC_PATH=~/dataset
mkdir $EuRoC_PATH/result
cmd="./bin/ice_ba --imgs_folder $EuRoC_PATH/MH_03_medium --start_idx 0 --end_idx -1 --iba_param_path config/param.txt --gba_camera_save_path $EuRoC_PATH/result/MH_03_medium.txt"
echo $cmd
eval $cmd

[michaelczhou]

ICE-BA-master/Frontend/feature_utils.h:24:45: fatal error: brisk/internal/score-calculator.h: 没有那个文件或目录
I have the same problem...how to slove it?(I use opencv3.2.0,it's the problem of opencv version?)

ok,it needs to install brisk.

[Zekegao]

I guess this is a brisk lib, so I try install some, possible make install this :
https://github.com/gwli/brisk.git

run ./build.sh, it's work, no error.(there will be errors again most possible when you run, waiting a official suggest)

But, I still cannot run the ./run_ice_ba.sh with some errors about databag.

E0620 00:54:23.577726 30977 EuRoC_test.cpp:356] "/MH_03_medium/mav0/cam0" is not a directory

so, good luck.

And, thx authors, it's awesome.

[Zekegao]

@wangjio Thank you very much~awesome work!
I think my error because of rosbag. I will try again.
If CVD is necessary? This one?

wget http://www.edwardrosten.com/cvd/libcvd-20150407.tar.gz
tar vxf libcvd-20150407.tar.gz
cd libcvd-20150407
export CXXFLAGS=-D_REENTRANT
./configure --without-ffmpeg
make
make install

[Zekegao]

It's working. The databag should be .zip, I used a rosbag. Thx @wangjio

[wangjio]

The question has been solved.