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                                            Cyberheadache

Optimization nan at vins_estimator

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...

Facing problems using VINS-Fusion on T265 realsense stereo fisheye camera

> @hridaybavle I cloned the newest code which includes "assert(id_pts.second[0].first == 0);",but I still got this problem by using t265 fisheye. frustrating-.- . I have also encountered the same problem...

adding a NaN check for feature points

Hello! I received this error after cloning the latest code. Is there any solution? vins_node: /home/yuan/dai_ws/src/VINS-Fusion/vins_estimator/src/estimator/feature_manager.cpp:65: bool FeatureManager::addFeatureCheckParallax(int, const std::map&, double): Assertion `id_pts.second[0].first == 0' failed.