Closed TanPinDa closed 3 months ago
Update VINS-mono to work with ceres-solver 2.2.0
Key Pointers:
minus
minusJacobian
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:
Update VINS-mono to work with ceres-solver 2.2.0
Key Pointers:
minus
andminusJacobian
are set to simply throw errors. These functions are not called.