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pjrambo / VINS-Fusion-gpu

This repository is a version of VINS-Fusion with gpu acceleration. It can run on the Nvidia TX2 in realtime
GNU General Public License v3.0
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FeatureTracker::trackImage returns featureFrame with nan values #8

Closed mmp52 closed 4 years ago

mmp52 commented 4 years ago

Dear @pjrambo and @xuhao1 ,

I had the error "Not enough features or parallax; Move device around" when running VINS Mono+IMU on tx2. I have a 1280*720 camera. I have an initial guess of the transformation matrix, even though I try the algorithm with estimate_extrinsic = 0 , 1 or 2 none of them works. I have tried to increase the feature number to 400, it also did not work. Moving the device was also useless for me. I have checked the IMU signal and visualized camera track, camera seems to detect the features well and IMU is working at around 50 hz, increasing it up to 80 is also useless.

Then I have started debugging from estimator::relativePose and I have figured out the NaN values are created when the trackImage() is called. I have realized that FeatureTracker::trackImage returns a featureFrame with NaN values on the X,Y and velocity_x , velocity_y components. What can be the reason?

thank you for your help,

Sincerely Yours, Metin

mmp52 commented 4 years ago

I have solved the problem finally - I have re-calibrated my camera using a KANNALA-BRANDT model instead of fisheye-mei model. Reading this https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/issues/57 inspired me, I believe there are more people having this problem but there is no answer or suggestion from the original authors.