I have a really weird case when trying to run VINS-Mono on my own device, which I cannot find a plausible explanation for:
I followed all the calibration and configuration instructions, but the result is really weird: The pose estimation doesn't move in translation when I do translational movements, and then sometimes randomly the pose estimation just flies away. For rotational movements, the directions are inverted for x and y axes, but correct for the z axis. The tracking of the feature points performs well, and I get this weird behavior all the time, even if I do slow movements (the potential lack of synchronization would therefore not be an explanation).
When I first launch it, VINS-Mono throws several times the "misalign visual structure with IMU" and the "Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization" message, but then it ends up initializing and starting.
It is like the extrinsic parameters are false, but I calibrated the device 5 times and got the same result each time, and even the "no extrinsic param" mode gives the same external calibration.
Anyone has an idea of what I might be doing wrong?
I have a really weird case when trying to run VINS-Mono on my own device, which I cannot find a plausible explanation for:
I followed all the calibration and configuration instructions, but the result is really weird: The pose estimation doesn't move in translation when I do translational movements, and then sometimes randomly the pose estimation just flies away. For rotational movements, the directions are inverted for x and y axes, but correct for the z axis. The tracking of the feature points performs well, and I get this weird behavior all the time, even if I do slow movements (the potential lack of synchronization would therefore not be an explanation). When I first launch it, VINS-Mono throws several times the "misalign visual structure with IMU" and the "Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization" message, but then it ends up initializing and starting.
It is like the extrinsic parameters are false, but I calibrated the device 5 times and got the same result each time, and even the "no extrinsic param" mode gives the same external calibration.
Anyone has an idea of what I might be doing wrong?