open_vins

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Relevant code: https://github.com/rpng/open_vins/blame/17b73cfe4b870ade0a65f9eb217d8aab58deae19/ov_msckf/src/update/UpdaterSLAM.cpp#L395 Now it's as below: ``` double chi2 = res.dot(S.llt().solve(res)); ``` I think it should be like: ``` double transformed_res = S.llt().solve(res); double chi2 = transformed_res.dot(transformed_res); ``` Other...

NewThinker-Jeffrey

I use ZED2 M camera and try to run OpenVINS Monocular-Inertial Odometry. I calibrated camera, IMU and got camera/IMU transformation matrix. The trajectory sometimes keeps moving but sometimes does not....

Yasintrkmn

Hi, Thank you for aggregating so many datasets in your docs! For the EuRoC MAV Dataset the rosbag2 links are broken. Can those be fixed? Datasets page: [https://docs.openvins.com/gs-datasets.html](https://docs.openvins.com/gs-datasets.html)

chasekunz

I want to build without ROS enabled even though I have ROS2 installed. While following [this guide](https://docs.openvins.com/gs-installing-free.html), I found that in the current CMake, `-DENABLE_ROS=OFF` will be ignored if you...

henrygerardmoore

To the authors and the community, I have some trouble deriving on of the error jacobians in the dynamic initialization. In particular, the jacobian of the error w.r.t rotation component...

precyon