koide3
Sorry, we no longer support Ubuntu 18.04 as it has reached EOL.
You need to add `-d` option to enable the dynamic point integrator.
Sorry. The multi-camera module is managed under a proprietary paid license. The code disclosure requires a formal contract.
That error happens when IMU is disabled and there is absolutely no overlap between submaps. Please try the following configuration that force creating odometry-based relative pose constraints to make the...
Can anybody share a bag file with me to reproduce and fix the issue?
@changh95 Thanks a lot for sharing the rosbags! These were really helpful to find the cause of the issue. I found that the issue stems from a long trajectory without...
Thanks. The keyframe concept is built on a factor graph, but it does not use traditional pose factors (i.e., `gtsam::PriorFactor` nor `gtsam::BetweenFactor`). Instead, it uses factors that directly compute multi-frame...
It depends. While the SuperGlue-based initial guess does not require initial guess, the NID-based fine registration requires a reasonable initial estimation.
This error is sometimes caused by previously installed GTSAM with a wrong version. Please check and try this https://github.com/koide3/glim/issues/91#issuecomment-2408989503
There are a few parameters that can largely reduce the GPU memory usage. Please try setting them as follows. - "sub_mapping/max_keyframe_overlap" : Decreasing this (e.g., to 0.3 ~ 0.4) makes...