[ VIO ] Append 0 new visual map points #418
Description
郑博，我现在已经完成了相机内参标定和相机与雷达的外参标定，启动launch文件后，rviz里只有相机画面，一直显示[ VIO ] Append 0 new visual map points
终端信息：
[ VIO ] Raw feature num: 12737
[ VIO ] Append 0 new visual map points
+-------------------------------------------------------------+
| VIO Time |
+-------------------------------------------------------------+
| Sparse Map Size | 836 |
+-------------------------------------------------------------+
| Algorithm Stage | Time (secs) |
+-------------------------------------------------------------+
| retrieveFromVisualSparseMap | 0.000000 |
| computeJacobianAndUpdateEKF | 0.000000 |
| -> computeJacobian | 0.000000 |
| -> updateEKF | 0.000000 |
| generateVisualMapPoints | 0.000135 |
| updateVisualMapPoints | 0.000000 |
| updateReferencePatch | 0.000000 |
+-------------------------------------------------------------+
| Current Total Time | 0.000136 |
| Average Total Time | 0.000137 |
+-------------------------------------------------------------+
[INFO] [1766388126.203090279]: Get LiDAR, its header time: 1766388125.899025
[ Preprocess ] Input point number: 19872
[ Preprocess ] Output point number: 12956
[INFO] [1766388126.204169631]: Get image, its header time: 1766388125.999025
[INFO] [1766388126.205277593]: Get LiDAR, its header time: 1766388125.997711
[ Preprocess ] Input point number: 20064
[ Preprocess ] Output point number: 13235
[INFO] [1766388126.206160868]: Get image, its header time: 1766388126.097711
[INFO] [1766388126.207328853]: Get LiDAR, its header time: 1766388126.098959
[ Preprocess ] Input point number: 19968
[ Preprocess ] Output point number: 13154
[ LIO ] Raw feature num: 12573, downsampled feature num:3357 effective feature num: 3232 average residual: 0.00914017
[ LIO ] Raw feature num: 12573, downsampled feature num:3357 effective feature num: 3229 average residual: 0.00845213
[ LIO ] Raw feature num: 12573, downsampled feature num:3357 effective feature num: 3227 average residual: 0.00842578
[ LIO ] Raw feature num: 12573, downsampled feature num:3357 effective feature num: 3227 average residual: 0.00842836
[ LIO ] Raw feature num: 12573, downsampled feature num:3357 effective feature num: 3227 average residual: 0.00842787
[ LIO ] Update Voxel Map
+-------------------------------------------------------------+
| LIO Mapping Time |
+-------------------------------------------------------------+
| Algorithm Stage | Time (secs) |
+-------------------------------------------------------------+
| DownSample | 0.000553 |
| ICP | 0.006105 |
| updateVoxelMap | 0.000331 |
+-------------------------------------------------------------+
| Current Total Time | 0.007031 |
| Average Total Time | 0.006050 |
+-------------------------------------------------------------+
[ VIO ] Raw feature num: 12573
[ VIO ] Append 0 new visual map points
+-------------------------------------------------------------+
| VIO Time |
+-------------------------------------------------------------+
| Sparse Map Size | 836 |
+-------------------------------------------------------------+
| Algorithm Stage | Time (secs) |
+-------------------------------------------------------------+
| retrieveFromVisualSparseMap | 0.000000 |
| computeJacobianAndUpdateEKF | 0.000000 |
| -> computeJacobian | 0.000000 |
| -> updateEKF | 0.000000 |
| generateVisualMapPoints | 0.000134 |
| updateVisualMapPoints | 0.000000 |
| updateReferencePatch | 0.000000 |
+-------------------------------------------------------------+
| Current Total Time | 0.000135 |
| Average Total Time | 0.000137 |
+-------------------------------------------------------------+
^C[republish-3] killing on exit
[rviz-2] killing on exit
[laserMapping-1] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete