VO Data Without IMU Fusion

[boga]

Is it possible to get the visual odometry data before IMU fusion in other words just the visual odometry?

[Eric Katzfey]

@boga There's a number of ways to get it. One way, if you are using qvio, is with voxl-logger. For example: voxl-logger -v qvio will store the odometry data in /data/voxl-logger/logxxxx/run/mpa/qvio/data.csv. You can start this in a service file (e.g. /etc/systemd/system/voxl-logger.service) so that it is always generating a log

[Alex Kushleyev]

@boga , QVIO requires IMU data to run, so it cannot output anything unless it receives images and IMU. There is no "Visual Odometry only" option to run QVIO.

Are you just looking to track features in the frame using images only or to get a full 3D pose solution and 3D feature locations just from images? (latter will be an issue for monocular camera because there is no scale if there is no IMU).

Alex

[boga]

@Alex-Kushleyev thanks for clarifying this! I tracked the voxl-qvio-server source code and the mvVISLAM.h library documentation. It is clear that only fused data is available and now I also know why thanks to your explanation @Alex-Kushleyev. I am working with an engineer who is dealing with stereo visual odometry so in this case it is possible to get the visual odometry without the IMU fusion also. @Eric-Katzfey it seems that you did not understand my question, but Alex's answer was perfect, thanks anyway.