Open takmin opened 3 years ago
I carefully traced the error and found the reason:
In FeatureTracker::undistortedPts(), tracking points are projected to new coordinates which eliminates lens distortion effect., however some points are projected to inf. I set "distortion_parameters:" to zero in camera.txt, then it worked.
This error is caused in PinholeCamera::liftProjective(). At line 501 in PinholeCamera.cc, parameter d_u is amplified by calling distortion() function recursively. I could avoid error by changing the number of iteration to 1. I don't know why the distortion() function is called iteratively, so I wonder if it is the right solution.
I also encountered a similar problem. I set the iteration count of this function to 1 and it can run normally, up to a maximum of 3. However, if I add it up again, there will be an issue with nan, which I am very confused about. I have recalibrated the parameters of the IMU and camera, and successfully performed Kalibr joint calibration. Do you have any idea about this? I would greatly appreciate it if you could answer me.
I encountered similar error to #131 without loop closure.
I tried to run vins_estimator with l515 with the following realsense launch file and vins-fusion config file. These parameters were calibrated with kalibr.
realsense launch file:
vins-fusion config file:
I started vins-fusion and encountered error.
I changed ros log level and saw the error in detail
It seems something wrong around imu, but I have no idea. I appreciate if anybody gives me any hints to solve this problem.