sume-cn

> You can try below approach. > > * create a new custom unary edge which implements `BaseUnaryEdge`. This is a prior edge > * you can also constrain the...

Solved, just leave linearizeOplus() not implemented. BaseUnaryEdge works, but some tricks must be used to get a fine trajectory.

I've read a paper recently, it provided another way to deal with similar robot setups: Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses

@ferreram What will be the Jacobian for this edge ? And why not use `EdgeXYZPriorSE3Expmap : public BaseUnaryEdge` since the GPS measurement does not have orientation?

@claydergc I think I've found the reason why KITTI raw does not run well. The data arrangement in velodyne pcap frame is according to the scan sequence. But the data...

> @sume-cn @jlblancoc so, you mean that transformToEnd() and transformToStart() only work correctly when the data arrangement is in pcap format? Yes, exactly

@adishavit [this repo](https://github.com/claydergc/loam_velodyne_kitti) can be tansplanted to windows, I've tested it, but the output trajectory is deformed

> Hi Sivakumar, if you simply want to publish pose using a stereo node then add these set of lines in the `ros_stereo.cpp` > in `int main()` declare your pose...