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TanPinDa / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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1 does not run with ceres solver 220 #4

Closed TanPinDa closed 3 months ago

TanPinDa commented 3 months ago

Update VINS-mono to work with ceres-solver 2.2.0

Key Pointers:

  1. The functions added for minus and minusJacobian are set to simply throw errors. These functions are not called.
  2. Tested working on euroc MH_01_easy.
  3. Updated package to use C++ 17 (CMake edit only, no code changes)
  4. Remove implementation of quaternionEigenLocalParameterisation. ceres-solver implements similar function
KeeJin commented 3 months ago

Good to note that the decision to bump the c++ version used to c++17 is mainly due to the requirements of ceres 2.2.0:

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