martinakos

I had already increased the max_num_features to 16000 and fixed the intrinsics for all the images with a PINHOLE camera model. I'm using a realsense D435 camera which has some...

I left this aside for a while and now I'm looking at it again. I discovered something odd. I have 53 images with prior poses. I extract features as above,...

Thanks. I've tried the new basalt_ros package and I have an error with the same launch file I was using here. I opened an issue in that repo https://github.com/berndpfrommer/basalt_ros/issues/2

Ok, I've realised what was the issue. I set up the Granite pipeline to use IMU but there is not monocular visual inertial initialisation/calibration stage of the IMU, and that's...