viso2 gets lost unless in fast motion
Hi I am trying to use viso2 ( https://github.com/srv/viso2 ) for visual odometry. I have the following setup:
- Kinect camera
- Openni driver ( https://github.com/ros-drivers/openni... )
- TF-Transform between base_link and kinect_link, so that it is in the optical frame
- Starting viso2 with https://github.com/ct2034/auckbot/blo...
The behavior that I am seeing is that most of the time the got_lost
flag is set (in the /mono_odometer/info
topic).
And also the pose is not updated. But when I move the camera really fast, the flag changes for one frame or so and the pose changes.
Is this a problem of setup? But there doesn't seem to be a parameter that influences this.
Are your images rectified?