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Hello. Thanks for the code! I see here https://github.com/leokoppel/msckf/blob/master/src/msckf/EKF.cpp#L71,
about the "rot over rot".
```
F.block(COV_ROT, COV_ROT, 3, 3) = -crossMatrix(rot_vel); …
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so i followed the instructions to install and build maplab on ubuntu 16.04
then i tried to follow the "use basic console" instructions and got this error
```
F0103 14:11:54.528542 22025 console…
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During the experiment ,how you can know where the mav is ,use visual inertial odometry or RGBD slam
hxp33 updated
7 years ago
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大哥，您好！
之前看过您的视频，最近在研究有些问题想请教您一下。因为没有其余的联系方式，冒昧在github留言。
如果在紧耦合的VIO中，使用fast或者harris,利用光流进行跟踪。联立相机误差和IMU误差进行优化。请问此时相机的误差是像ORB-SLAM一样的几何误差还是像DSO一样的光度误差？
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Thanks for your great work. I want to add imu to solve monocular scale problem. But I donot how to use it , only use imu preintergation (between two image ) to predict next image alignment position .
…
hxp33 updated
7 years ago
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In your GPS record in location.json file, only latitude and longitude appeared, to completely fix the position in Cartesian coordinate, isn't the altitude also necessary?
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I am so sorry to ask this question, maybe it is samplie. I want to konw how to compare diferent kind trajectories? such as euroc trajectory and kitti trajectory. or how to translate one kind to anoth…
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In Optimizer.cc, why pKFi->mvuRight[mit->second]
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Hi.
I have tested your implementation on EurocMAV dataset.
On all my tests I've got robust gyroscope & gravity etsimitation.
But unfotunately accelerometer is wrong on some scenes (V1_01_easy for e…
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Hi, thanks for making this code available! In the comments, you say 'not real-time', what is it that is stopping this from being real-time capable?
Thanks!