position,velocity and posture instead of gyro and acc.

RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU

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position,velocity and posture instead of gyro and acc. #9

Open Sho412 opened 5 years ago

Sho412 commented 5 years ago

Hi, Thank you for sharing your great job.

I'd like to use position(velocity) and posture as the input instead of gyro&acc. How do I modify the code? I'm now reading getIMUHessian&IMUPreintegrator. Thanks! Sho