Issues with Mapping and Trajectory Scaling Using GoPro13

[Cxy0103]

Hello,

I encountered some issues while replicating the mapping process using GoPro13. The output mapping.csv file loses a significant number of frames, and only the last few seconds are recorded. When I use the generated trajectory to operate a robotic arm, I noticed that the trajectory scale is incorrect (e.g., I drew a large triangle with the gripper, but the generated trajectory is a small triangle). Additionally, the trajectory has a noticeable tilt angle.

When I performed the same process with GoPro9, the tilt angle issue was still present, but everything else worked as expected: the trajectory scale was correct, and the mapping.csv file was complete.

Could you help me understand what might be causing this? Is it related to the IMU? Or is GoPro13 inherently unsuitable for this project?

For GoPro13, I tested the following settings:
(2.7K, 120fps, 4:3)
(4K, 60fps, 8:7)
(1080p, 60fps, 16:9)
However, the results were consistently poor, as described above. For comparison, the original GoPro9 settings were (2.7K, 60fps, 4:3). Since GoPro13 does not support 2.7K at 60fps, I tried frame skipping to match the parameters of GoPro9, but the outcome was still unsatisfactory.

Here is my mapping.csv file and the trajectory visualization generated with Python.
mapping_camera_trajectory.csv

I would greatly appreciate any insights or suggestions you might have.

Thank you in advance!

[Johnsonones]

我也是这个问题，丢帧，麻烦问一下你在用gopro13采数的时候运行slam脚本报错吗

[soochulYoo]

Hi @Cxy0103 , I am also using GoPro13 for this project.

Long story short, I failed too.

I tried the following settings:
(2.7K, 120fps, 4:3)
(1080p, 60fps, 16:9)

but I couldn't make it.

I searched GoPro 13 firmware supporting 4:3, 2.7k and 60 fps, but there is no firmware supporting that setting.

By the way, did you make GoPro .yaml file too with OpenICC ?

I think the cause is likely to be in the yaml file.

I am trying to create the yaml file fitting with GoPro13 with different settings.

Also can you show us your slam_stdout.txt?

Maybe I can compare my slam_stdout.txt with yours.

Thank you.