pw

pose_extrapolator.cc

2

At line 115，i see “const transform::Rigid3d odometry_pose_delta =odometry_data_newest.pose.inverse() * odometry_data_oldest.pose;” However，at line 178， i see “ angular_velocity_from_poses_ = transform::RotationQuaternionToAngleAxisVector( oldest_pose.rotation().inverse() * newest_pose.rotation()) / queue_delta;”，I think this code should be “...

TUM corridor1 的参数能共享一份嘛,邱博

when pure rotation,the result degrade?

1

when pure rotation,the result degrade?

Monocular camera

2

Does the VI-DSO algorithm（Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization） can work in Monocular camera？

perferect work. Can you provide a data example?