HpyZhai

hi, thank you to answer my question. I checked the function traceStereo() of setCoarseTrackingRef() again. You are right，It calculated the static stereo residuals ，however，they were just used to get the...

I have the same problem as you. Did you solve it?

No, I mean the fusion path is very similar to the vio odometry path. The reason is that my gps timestamp is not the same as the vio corresponding timestamp....