XuHao

@yinloonga Which config file you are using when testing? Please provide full command line

@yinloonga @Wenminggong I found this is due to faiss lib. It requires k > 0 in latest faiss version when perform kNN searching. So I fixed the issue and also...

@kajo-kurisu Could you have a trial on dev branch?

@Gatsby23 @minje-KIM We are using LIBTORCH_VERSION=1.13.0 It has been fixed in latest patch, thanks for your feedback For the message issue, make sure is compressed_images is set to zero, otherwise,...

@myboyhood This topic is published by D2PGO at this line https://github.com/HKUST-Aerial-Robotics/D2SLAM/blob/main/d2pgo/src/d2pgo_node.cpp#L133 You should launch with enable_loop:=true enable_pgo:=true to enable this.

For quad-cam, you may take a look at https://github.com/HKUST-Aerial-Robotics/D2SLAM/blob/main/quadcam_depth_est/launch/depth-node.launch For using realsense camera, we directly use depth generated by camera

@Wenminggong 460.0 here is only a scale factor (not a really focal length). It only influence the judgement of keyframe . As I know, airsim may have time sync issue....

@wanghuan0812 这种问题一般是因为错误的网络设置造成的，请检查你们的网络访问性。

@wrmhehe Well, at the begining of this project, I want to try use MSCKF in D2VINS. But I give up this idea later... The folder hasn't been deleted.

@changdiandian This bug has been fixed in the latest update