Suddenly failing after good performance

[raabuchanan]

Hello, I'm running OpenVINS on a pretty easy log of a legged robot walking around a courtyard outside. OpenVINS works just fine until a specific moment where suddenly most of the visual features disappear and then the state diverges. I've added a picture of Rviz of just before the state diverges.

My best guess is that most of the good features are very far away and maybe there is some parameter setting a maximum landmark distance from the camera? Any ideas? Thanks.

Right before divergence

[goldbattle]

Do you have the bag? How many features are tracked during this, or is it due to the state diverging? Can you provide your calibration / launch / data?

[goldbattle]

Feel free to reopen if you have a specific bag to reproduce this, thanks!