open_vins
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rpng
An open source platform for visual-inertial navigation research.
Prior to this, I had to build Ceres from source, but later I was able to use `sudo apt` to reinstall Ceres. My workspace dir includes: - build - ceres-solver...
I think there is a thread safety issue during initialization when the `use_multi_threading_subs` parameter is set to true. The dynamic initializer twice calls `_db->get_internal_data()` and then iterates over the contents...
Hello, I've gotten the euroc_mav data to run on OpenVins in ROS2 Humble, but when I tried it on Foxy version (tried to follow the same installation process), I get...
I am streaming 800x600 frames @30 fps. I performed the camera-IMU calibration fine, but when I run `roslaunch ov_msckf subscribe.launch config_path:=/openvins/estimator_config.yaml max_cameras:=1 use_stereo:=false` the image quality in Rviz is terrible....
The variable {}^{A}b_{i} should be {}^{A}p_[C_i] ？Or there were some details I ignored?
Hi I have Jetson Xavier NX with a ROS2 `hubmle` docker container. I cloned this repo and built it using `colcon build`. the build took some time, but it was...
hello, ubuntu 22.04 6.2.0-37-generic ROS2 humble in installation step, after this command `colcon build --event-handlers console_cohesion+ --packages-select ov_core ov_init ov_msckf ov_eval # ROS2 with verbose output ` While ov_msckf was...
in 721 line of TrackKLT.cpp, why mask1_updated clone from mask0? I assume it should be mask1? `cv::Mat mask1_updated = mask0.clone();`
Hi, @goldbattle I have a few questions about zero-velocity update that I would like to ask you. 1. I would like to ask about the meaning of "untested" in the...
https://github.com/rpng/open_vins/blob/4534a2f32d4763bdc8c95121b3292c7423e12aca/ov_msckf/src/update/UpdaterSLAM.cpp#L505 Any technical document about the anchor change operation and the state and covariance update process?
