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No slam Points for 3 cameras. #455
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Do you have an example bag with your configuration files I could test with? The logic to append new SLAM features should be pretty independent of the number of cameras. There might be a bias to selecting new SLAM features in smaller camera ids, but it seems you don't have any at all after using the third camera. open_vins/ov_msckf/src/core/VioManager.cpp Lines 440 to 453 in e274c65
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Hello @goldbattle. I have a dataset here that you could use to test my 3 cameras setup. I changed my extrinsics in the mean time (no overlap in field of view) so no stereo constrains. Here is the bag file. My config files are attached here |
Hello everyone. I'm using openvins with 3 cameras (150 degrees HFOV) at 45 deg from one another making a decent overlapping field of view. But when i try to use the 3 cameras, the slam part does not work ( no slam points published) which is fine if i keep moving the platform around, but the moment a stay stationary the estimated pose drifts away. But when i activate only 2 cameras (max_cameras:=2), the slam works. Any help on the matter ?
Here is my config file :
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