XuHao comments

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XuHao

Two quesions: can I run this on ROS2 ? ..... I'm new to vision, is VINS the same as visual odometry?

@Eddy202208 VINS stands for the visual-inertial-navigation system. Differ from visual odometry, it's visual-inertial-odometry. Standard visual odometry does not use inertial data (IMU) Currently, VINS does not support rOS2

利用docker搭建环境，不能链接到https://ceres-solver.googlesource.com/ceres-solver/

@klxxxx @af-doom 这是GFW引起的。

out of memory in function 'allocate'

@DavidNY123 It's a GPU driver issue. You may double-check your system setup.

out of memory in function 'allocate'

@DavidNY123 flow_back:0 will cause the front-end unstable, I do not recommend using this configuration...

cv::Mat E = cv::findFundamentalMat(ll, rr, cv::FM_RANSAC, 0.3 / 460, 0.99, mask);

This code is not used in VINS-Fisheye, it's for mono initialization.

Segmentation fault (Address not mapped to object [(nil)])

You may try this launch file to make it work with Realsense. https://github.com/xuhao1/VINS-Fisheye/blob/master/vins_estimator/launch/pinhole.launch

run ros node error:OpenCV Error: No CUDA support (The library is compiled without CUDA support) in throw_no_cuda or 3.2.0+dfsg/modules/core/include/opencv2/core/private.cuda.hpp, line 97 terminate called after throwing an instance of 'cv::Exception'

Please try the latest version in master branch

run ros node error:OpenCV Error: No CUDA support (The library is compiled without CUDA support) in throw_no_cuda or 3.2.0+dfsg/modules/core/include/opencv2/core/private.cuda.hpp, line 97 terminate called after throwing an instance of 'cv::Exception'

@DandyLorenz This is actually a hardware driver problem, you may try CPU version instead or fix your hardware. I will publish a docker for this program later, which may also...

About the fisheye lens

@DavidNY123 I order them from Taobao....

About the fisheye lens

@DavidNY123 Please check this https://github.com/HKUST-Swarm/camera_model/blob/master/scripts/calib_bag.py