Understanding voxl-evaluate-vins

[Aaron Porter]

I just have a question about voxl-evaluate-vins how is it suppose to be used. I used voxl-logger to collect the camera data from my Starling 2 but I am getting a segment Terminate when trying to use voxl-evaluate-vins on that log. voxl-replay works fine on the log.

I am under the impression that I am using voxl-evaluate-vins wrong and looking through the documentation and can't seem to find an answer for how it is meant to work.

I am using voxl-sdk 1.6.2

Thank you,
Aaron Porter

[zauberflote1]

@Aaron-Porter Hello there,

voxl-evaluate-vins is currently not used by the Autonomy team @ ModalAI, we opted for our new benchmark solution, a bit more consistent in terms of statistical rigor and better integration with voxl-portal. Still, when replaying logs for VINS, it is imperative that one replays them using the ION pipes, as our VINS solution is optimized for cl_mem ptrs. Note that when replaying ION pipes, it is recommend to stop camera-server before replaying -- as clean killing ION pipes via the voxl-replay args is currently being optimized. This should resolve the common segfaults experienced during the replay/benchmark operation itself.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-benchmark-vio

Finally, I would recommend updating your VINS to the latest available tag on Gitlab