Run error with my fisheye camera about openvslam HOT 4 OPEN

It is unusual behavior.
max_x should be greater than min_x. (Also max_y should be greater than min_y.)

I think cy seems inaccurate because cy is usually around half of the rows.
Would you try cy=480.0 for debugging?

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Hi @shinsumicco, I achieve a similar result as @tkym525 when trying my own 210⁰ fisheye camera. Max x and max y are negative, and the map cannot be initialized:

I've done manual calibration which seems to work fine. Using openCV's initUndistortRectifyMap I get the following before correction (left) and after correction (right):

Given that the calibration seems to be correct, any idea why tracking doesn't work? Thanks!

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@shinsumicco I did the calibration again and somehow managed to fix the negative max x issue. But the tracker still fails to initialise and the viewer keeps giving this kind of output:

Here is the configuration used:

Any idea why the tracker fails to initialise?

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@shinsumicco Thank you. I finally achieved SLAM. First, I did the calibration again and adjusted the value manually. Negative max x issue is still remain with the distortion(k1, k2, k3, k4). Second, I used "run_image_slam" instead of "run_video_slam". I'm investigating the cause that "run_video_slam" doesn't work.

@nfoong I see the image seems to be a little blurry and there are few feature points. I think you should slow down the moving speed and do an experiment in more busy places.

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