crash after large rotation about dm-vio HOT 3 CLOSED

Thanks for providing all the relevant info in your issue!
Can you try to compile DM-VIO in the mode RelWithDebInfo info instead of Debug?

A bit of background on this: In debug mode I added lots of asserts for certain properties (e.g. PoseTransformation inverse should be correct, analytic Jacobians should be equal to numeric ones, etc.). However the epsilon thresholds are sometimes a bit tight and while they are satisfied on the EuRoC dataset, on datasets with different motions they might fail.
Hence, Debug mode is currently only supported on the EuRoC dataset and on other datasets you should use RelWithDebInfo.

Lastly: You might find the new version of the code interesting. While the Realsense-Live-version currently only supports T265 officially, I think it should also work well on your camera with some adjustments.

from dm-vio.

haha, you are correct, adding the RelWithDebInfo flag didn't prompt error anymore, at the same time me and my colleague wrote the D455 and D435i version in our folk, we will clean the code and create a pull request as soon.

Thanks again for your quick reply!

As there is no problem in this case, I will close this issue for now.

from dm-vio.

@rancheng are you using the depth information from the D455 to give accurate world scale? Or just running monocular?

Thanks

from dm-vio.