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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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pre-integration problem #20

Open Yingsheng123 opened 5 months ago

Yingsheng123 commented 5 months ago

hello，if i want to use it in VINS-MONO，should i change pre-integration of vins-mono，the algorithm is not work well in vins-mono now, i just transplant bias and translation part

HeYijia commented 5 months ago

You don't need to modify the imu pre-integration code of vins-mono. You have to replace vinsmono's function initialStructure() with our algorithm, and you should carefully read the interface of these functions.

jerryjifjsdbf commented 4 months ago

So you just need to change this function of initialStructure() in vins-mono

Yingsheng123 commented 4 months ago

You don't need to modify the imu pre-integration code of vins-mono. You have to replace vinsmono's function initialStructure() with our algorithm, and you should carefully read the interface of these functions.

I have transplant the algorithm in vins-mono initialStructure()(without gravity optimization part)，other parts remain the same as vins-mono, I find that the bias is estimate correctly(should modify addFeatureCheckParallax() function), but the translation part is incorrect. Do you know the reason?