ygz-stereo-inertial
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gaoxiang12
a stereo-inertial visual odometry
报错信息如下 /home/sch/GAAS/software/SLAM/ygz_slam_ros/backend/src/BackendSlidingWindowG2O.cpp:448:103: error: no matching function for call to ‘g2o::BlockSolver::BlockSolver(std::remove_reference::type)’ std::unique_ptr solver_ptr (new g2o::BlockSolverX( std::move(linearSolver))); ^ In file included from /usr/local/include/g2o/core/block_solver.h:189:0, from /home/sch/GAAS/software/SLAM/ygz_slam_ros/backend/src/BackendSlidingWindowG2O.cpp:11: /usr/local/include/g2o/core/block_solver.hpp:39:1: note: candidate: g2o::BlockSolver::BlockSolver(g2o::BlockSolver::LinearSolverType*) [with Traits =...
问一下，在EdgePRV类的computerError中，计算位移误差的语句是 (line 174) const Vector3d rPij = RiT * (Pj - Pi - Vi * dTij - 0.5 * GravityVec * dT2) - (dPij + M.getJPBiasg() * dBgi + M.getJPBiasa()...
系统：Ubuntu 16.04.6 LTS “/generate.sh" 的时候报错了： [ 87%] Linking CXX executable ../../bin/MakeSceneEurocStereoVIO_ros ../../lib/libygz-cv.so: undefined reference to `ros::Publisher::publish(boost::function const&, ros::SerializedMessage&) const' ../../lib/libygz-cv.so: undefined reference to `ros::Publisher::Impl::isValid() const' ../../lib/libygz-cv.so: undefined reference to `ros::NodeHandle::advertise(ros::AdvertiseOptions&)'...
我用的是jetson nano 架构是aarch64 在make的时候报错 错误为“c++ error unrecognized command line option -msse” 我想知道如何能够解决，谢谢！
您好，高博，看代码去掉了loopclosing ，这样没有回环检测，没有Relocalization， 就不是一个完整的SLAM， 为什么去掉Relocalization呢，基于什么考虑的，谢谢了。 直接将这个前端光流法 + 后端 ORB-SLAM2， 是否可行？
VIO example run error cc@cc-B250-HD3:~/catkin_ws/src/ygz-stereo-inertial-master$ bin/EurocStereo ./examples/EurocStereoVIO.yaml Segmentation fault (core dumped)
