Stephanie Tsuei

I implemented the Farneback Optical Flow algorithm in the `more_trackers` branch yesterday. My comments are: 1. It's really slow compared to the basic pyramid KLT. 2. It's very inaccurate for...

I will do my best, as I was in your position as a new grad student a few years ago and therefore have notes that can become documentation. However, we...

At the moment, I'm getting the following linker error on Ubuntu 20.04 (lab machine): ``` /usr/bin/ld: ../thirdparty/ceres-solver/lib/libceres.a(eigensparse.cc.o): in function `Eigen::internal::Assignment::run(Eigen::Matrix&, Eigen::Product const&, Eigen::internal::assign_op const&) [clone .isra.0]': eigensparse.cc:(.text+0x33c): undefined reference to...

We have not been testing on the EurocMav datasets. Can you please elaborate more on the problems that you're seeing? Looking at your config file, this are the best guesses...

I haven't had time to really look at this, but I can comment on how Xivo deals with gravity. **If you start from constant velocity** (e.g. rest), and if the...

The body frame is always aligned with the spatial frame during initialization; the spatial frame is defined to be wherever the body frame is at the very beginning. The body...

`P` contains the initial value of the state covariance. See - [Initialization](https://github.com/ucla-vision/xivo/blob/devel/src/estimator.cpp#L207) - [KF Update](https://github.com/ucla-vision/xivo/blob/012f702b8ce5c66a2210b4ec0fa092c1b40c82ca/src/estimator.cpp#L923)

Oh whoops. It's been a while and I thought the problem had been solved.

Item 2 appears on both Ubuntu 20.04/gcc-9 and Arch Linux/gcc-12 when we set the following lines in `src/CMakeLists.txt`: ```cmake add_definitions(-DEKF_MAX_FEATURES=100) add_definitions(-DEKF_MAX_GROUPS=50) ``` However, it doesn't happen on either machine when...

The compilation warning mentioned in the first post disappears when we comment out this line in `CMakeLists.txt`. ```cmake set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native") ```