Kaapeine

> @gaowenliang hasn't been active in this repo for over 3 years, so I'll try to answer. You're right, the units were wrong. Check out my fork of this repo...

> I prefilterted the IMU measurements with a rolling median filter in order to detect sudden strikes as outliers and it worked. Could you please provide some details of your...

@goldbattle Can I help with this somehow? I've never seen this issue on a Ubuntu 18.04 OpenCV 3.2 setup.

@goldbattle I took a look at the PR and the image conversion takes place in an early version of `ImageDatasetReader.py` which uses the older `cv_bridge` function to convert image messages....

You should still be able to use the package, these are just warnings.

This fixes another import error. ``` sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h ```

So an update to this: VINS-Fusion-GPU supports Ceres 2.1.0 without any requiring any change in code. I was able to enable CUDA by adding this line to the optimization method...