LearnVIORB

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hello, thanks your great implementation! for A matrix initialization in IMUPreintegrator.cpp, line 91, if you initialized the A matrix with indentity, then i think, you should also let A.block(6,3), A.block(6,0)...

jdcllh

I guess line 794 in g2otypes.cpp is wrong, which calculates the jacobian of reproject error w.r.t. dPwb, while theannotation(line 793) is right. 793 //Matrix3d J_Pc_dPwb = -Rcb; 794 Matrix JdPwb...

LiHefan

In the Forster's paper, the covariance of states relate to the random walk noise, but in practice the result is bad that the informative matrix base on the state is...

Richardson-Chong

pkok

pkok

Worse result than ORB_SLAM2. Looses more often track.

7

I run ORB_SLAM2 successfully in some datasets, however when I use LearnVIORB with the exactly same parameters for the visual part the track is lost in two sequences that I...

George-Gi

How do you marginalize key frames discarded in LocalBAPRVIDP ()

2

How do you marginalize key frames discarded in LocalBAPRVIDP ()

NCHUPJ

Thank you very much for sharing the code!@jingpang @MaXinjun0109 @jyzhong @ferreram I am learning your code recently, and I find the jacobian of Pwb error "JdPwb" in EdgeNavStatePointXYZ::linearizeOplus() is defrent...

wds01060202

One questions on PoseOptimization

2

Thank you very much for sharing the code! I am learning your code recently, and I have one questions on PoseOptimization functions, could you give me some instructions? Thanks in...

wds01060202

Shows segmentation fault while trying to run on Ubuntu 16.04

8

Hi While trying to run the code, I run into SIGSEGV error (probably segmentation fault) and the program exits. I tried debugging in qtcreator and found that it runs into...

arin07