感谢优秀的工作，大部分情况都运行良好。

对于部分数据集，我在测试时发现初始化时FAST-LIVO总是跑飞, 但FAST-LIO2可以正常运行，于是我试了试在common_lib.h 中去掉了#define USE_IKFOM的注释，但出现了很多 IKFoM_toolkit库报错及其他报错。如： ` /home/zuo/catkin_ws/src/R3LIVE/FAST-LIVO/include/IKFoM_toolkit/esekfom/../mtk/build_manifold.hpp:102:47: error: request for member ‘oplus’ in ‘((state_ikfom*)this)->state_ikfom::grav’, which is of non-class type ‘int’

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

/home/zuo/catkin_ws/src/R3LIVE/FAST-LIVO/include/IKFoM_toolkit/esekfom/../mtk/build_manifold.hpp:102:47: note: in definition of macro ‘MTK_OPLUS’

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

`/home/zuo/catkin_ws/src/R3LIVE/FAST-LIVO/include/IKFoM_toolkit/esekfom/../mtk/buildmanifold.hpp:102:85: error: no matching function for call to ‘subvector(const MTK::vectview<const double, 0>&, int state_ikfom::*)’

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

`/FAST-LIVO/src/IMU_Processing.cpp:256:31: required from here /usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: INVALID_MATRIX_PRODUCT

define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);

请问如何处理此类报错，或者如何正确使用#define USE_IKFOM ，是否还需要其他设置。或对于初始化时FAST-LIVO部分情况跑飞的情况如何处理？是否需要先原地静止再移动？十分感谢

hku-mars / FAST-LIVO

#define USE_IKFOM 后的 IKFoM_toolkit库报错 #36

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

define MTKOPLUS( type, id) id.oplus(MTK::subvector(vec, &self::id), scale);

define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);