What is gtFile ? And what is the different between gtFile and imuFile?

[HongShaojiang]

Hi, I want to run dm-vio on my dataset with imu, and I got Aborted(core dumped), I dont know the different between gtFile and imuFile, could you explain this two file. Tks.

[hellovuong]

gtFile is the ground trutth for your datasets, usually the poses from motion capture, or other reliable SLAM, etc. imuFile is simply the imu datafile.

[lukasvst]

Yes, the explanation of @hellovuong is correct. While gtFile is optional, imuFile is required (unless you pass useimu=0, which will disable the IMU for the system and can be used for debugging).

[HongShaojiang]

Thank you very much!