VINS-Fusion-gpu
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pjrambo
This repository is a version of VINS-Fusion with gpu acceleration. It can run on the Nvidia TX2 in realtime
Hi! When testing the VINS-Fusion-gpu on TX2 nx, I encountered a problem that extracting features on the first frame with the function named goodFeaturesToTrack takes a long time on TX2,...
When I run vins_node I get the following error. [ INFO] [1585575375.775787111]: init begins config_file: ./euroc_mono_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path /home/tony-ws1/output//vio.csv [ WARN] [1585575375.785138318]: Optimize extrinsic param around...
您好，非常感谢您的工作，我将该代码在自己的TX2上使用d455测试后发现，相机640x480分辨率，15fps下能够较好的运行，但是帧率提高到30fps就会有较大的延迟，关于gpu加速的opencv3.4.1等我确认设置正确了，并且监控gpu发现使用gpu和不使用的情况的gpu占有率有20%左右的提升。我尝试降低提取特征点数也不管用，因此想请教下您这个问题
Cool Repo! Do you _think_ VINS-Fusion will run well on a Jetson Nano?
Hello everyone, So i am trying to test a SLAM algo with OAK camera following the steps in the tuto of: https://www.arducam.com/docs/opencv-ai-kit-oak/performing-location-with-visual-slam/#ftoc-heading-9. I have a problem in the step 5.5...
The latest version of Ceres comes with CUDA support for DENSE_SCHUR solvers. This might make a significant improvement to the speed of the optimization. Just posting this here in case...
I've been working on setting up VINS-Fusion-GPU on Jetson platform and used [this](https://github.com/mzahana/jetson_vins_fusion_docker) docker image for the ease of setup. While testing in real-environments I noticed that it gives non-realtime...
when trying to run it on intelrealsense D435i enord@enord:~$ rosrun vins vins_node catkin_ws/src/VINS-Fusion-gpu/config/realsense_d435i/realsense_stereo_imu_config.yaml [ INFO] [1635939173.428655807]: init begins config_file: catkin_ws/src/VINS-Fusion-gpu/config/realsense_d435i/realsense_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /camera/imu result path /home/enord/output//vio.csv [ WARN] [1635939173.497895678]:...
Hi @pjrambo @xuhao1 , I'm using vins fusion with my realsense d435i camera but I'm getting a problem regarding axis of d435i. In d4345i y is upward and z is...
I have discovered, that VINS-Fusion-gpu detects less feature points in frames with local high contrast areas. Few feature points are detected in such areas, while the rest of the frame...
