hgy_rick

seems a very tiny bug??

1

imuPreintergration.cpp:48~52 ``` try { tfListener.waitForTransform(lidarFrame, baselinkFrame, ros::Time(0), ros::Duration(3.0)); tfListener.lookupTransform(lidarFrame, baselinkFrame, ros::Time(0), lidar2Baselink); } ``` It looks like to obtain lidar to baselink static transform. However, I googled what ```lookupTransform``` returns...

repropogate in imuPreintegration seems not to be used

1

I think each time when odometry comes, imuIntegratorIMU should reset its optimized bias to improve the overall system's stability. And repropagation seems not to be used except for some narrow...

Hello, Wang. I am studying your latest work -- online VPR via saliency re-identification and read though your code. Testing with New College dataset, i found the performance is far...