Comments (6)
Hi @wangjio @liuhaomin @mingyux,
Any update on this? Would be very much appreciated.
Best,
Ilyass
from ice-ba.
@itaouil Hi!
I am trying to do the same thing, integrating ICE-BA with vilib?
Were you able to do it?
Thanks
from ice-ba.
Hi @mzahana,
Yes I managed to do the integration. How can I help you?
from ice-ba.
@itaouil thanks for your response. I am looking for instructions on how to integrate vilib with this package.
Another question is, were you able to run this in real time on edge compute platform such as Jetson boards ?
Thanks!
from ice-ba.
Hi,
No worries.
I managed yes, and I think I was able to run it on the Jetson Xavier with a decent frame rate, but I don't remember how good that was unfortunately.
At the end I opted to use LARVIO as the back-end (which uses a MSCKF instead of BA) and turned out to be more efficient than ICE-BA as a back-end (but I did not do any fine tuning or tried to improve it).
You can easily integrate vilib, but you will have to add the typical image pre-processing to the image (i.e. removing distortion, etc) before computing the features and starting with the tracking process.
If you really need optimal performance on the Jetson I advice using LARVIO from my experience, it is really efficient and works decently well I would say, but again, I did not spend that much time on ICE-BA so I might have missed something.
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@itaouil thank you so much for taking the time to write this feedback!
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Related Issues (20)
- After successful compilation, it cannot run. I use opencv3.3.0
- ISAM2 backend implementation.
- set parameters constant
- An error when implemented with my own images and imu data in stereo mode HOT 1
- Math bug in EigenMatrix3x3f variant of GetRodriguesJacobianInverse HOT 1
- Fixed KeyFrame in Local BA?
- how to export trajectory form tango phab 2 ?
- realtime running HOT 2
- Running with different SLAM algorithms HOT 1
- Why Embedded Point Iteration dosen't work?
- how to run ice-ba
- recompile with -fPIC HOT 1
- Clarification regarding feature depth updates
- similarities with a recent bundle adjustement procedure
- Convert to asl timestamp error
- Can it run on an embedded platform?
- mistake in project?
- Evalutation Scripts, RMSE 0% on all sequences, trajectory file consists only of small number of frames HOT 1
- ../bin/ice_ba: symbol lookup error: ../bin/ice_ba: undefined symbol: _ZN6google21kLogSiteUninitializedE
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