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HITSZ-NRSL / Dynamic-VINS

[RA-L 2022] RGB-D Inertial Odometry for a Resource-restricted Robot in Dynamic Environments
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[bug] exception row->0 columns-> #11

Closed eliabntt closed 1 year ago

eliabntt commented 1 year ago

hi there

so sometimes (in VO mode) this lines throws an exception.

I've checked VINS FUSION and they check if m == 0 and set a param (valid) to false. That is then used in the estimator.cpp file (here here and here)

Did this ever happen to you?

jianhengLiu commented 1 year ago

Sorry for the late reply. I've been caught up in other things. The vo mode didn't have a throughout examination; it may have bugs; sorry for that. I will check it later when I am available. Or you could issue a pull request if you fix it. Thanks a lot!

eliabntt commented 1 year ago

We simply added vins fusion code. This happens when there's no features to track. I'll close this for now, at least people will find it 😊