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slightech / MYNT-EYE-VINS-Sample

Forked from VINS-Mono: https://github.com/HKUST-Aerial-Robotics/VINS-Mono
GNU General Public License v3.0
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Initialization not correct #4

Open rising-turtle opened 6 years ago

rising-turtle commented 6 years ago

Hi, all I use the default config file to run the VINS-Sample, however, the result of the initialization lead to large scale error. I think the default config file provide pretty good initial estimate for the IMU-Camera transformation, which should not be the main reason that results in the scale error.

To run the code, I follow the instructions in the README file of the MYNT-EYE-VINS-Sample. Is there something I missed?

Any suggestions will be greatly appreciated!

Thanks.

jiziye commented 5 years ago

Hi,

  1. Please make sure the camera uses the latest version of the SDK and the latest firmware.

  2. Has the camera been dropped or bumped? What is the depth map effect? If the depth effect is poor, the parameters are no longer adapted and need to be recalibrated.

  3. Whether the imu data is normal, you can check the data of the iMU in the static state. Need to ensure that the imu data is normal.

  4. Before running vins, you need to set up the camera. Facing the place with many feature points, after the vins starts, slowly move the camera to initialize. The camera can't lie down and initialize, it will fly. Also, when running vins, turn off the IR and don't use IR. In addition, ceres need to use 1.14.0, eigen needs to use version 3.3.4, the wrong version will also cause vins to fly.

Best.