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boxuLibrary / drt-vio-init

The official repository of our CVPR2023 paper "A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization".
GNU General Public License v3.0
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repeat data during test run #16

Open Alex-Beh opened 8 months ago

Alex-Beh commented 8 months ago

在尝试中发现图像有重复的现象， 下面这部分是否有错？ https://github.com/boxuLibrary/drt-vio-init/blob/fb0ac8d3fc4d9f683888565882838b6f1c330435/app/main.cpp#L66-L67

应该是?

    for (int j = i; j < 100 + i; j += 5) idx.push_back(j);

取每5个frame的第一个，从原有的20Hz变为4Hz

Alex-Beh commented 8 months ago

然后这两个变量为什么没有被进一步使用呢？ https://github.com/boxuLibrary/drt-vio-init/blob/fb0ac8d3fc4d9f683888565882838b6f1c330435/src/initMethod/drtVioInit.cpp#L78-L79