Thomas Schneider

You can set the number of features here: https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/rovio-factory.cc#L26 Which queues are you referring to? Are you trying to optimize the performance of VIO+localization or just VIO?

Yes, the translation part should be in meters.

It is probably dependant on the platform and its application whether processing the (wheel) odometry constraint as an update, combined with IMU propagation, yields good results. But in my opinion...

This wiki entry might also be helpful: https://github.com/ethz-asl/maplab/wiki/Importing-maplab-to-Eclipse

Yes, these visualizations are available; unfortunately they are a bit hidden :) You can use the following flags to enable these visualizations: ``` -feature_tracker_visualize_feature_tracks -feature_tracker_visualize_keypoint_matches -feature_tracker_visualize_keypoints -feature_tracker_visualize_keypoints_individual_frames ``` The images...

I'm not sure if that could have any side effects further down the pipeline and would prefer to not change it without adding further tests. Did you encounter any issues...

Could that maybe be a problem with the combo lk+matching tracker?

Are these the plots popping up before the optimization? If so, these are showing the results of the time-shift initialization for the non-linear least squares problem. In this problem the...

Maybe the models between Kalibr/OpenCV are not matching. Kalibr implements distortion models that are not supported by OpenCV (e.g. the 'equidistant' model). Could you verify that the models are correct?

The IMU data in the plots of the cam-IMU calibration look somewhat weird. Is it possible that there are very fast motions or shocks in the datasets? In the cam-cam...