slam feature management bug ?

rpng / open_vins

An open source platform for visual-inertial navigation research.

https://docs.openvins.com

GNU General Public License v3.0

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slam feature management bug ? #173

Closed tadashi-hamada196 closed 3 years ago

tadashi-hamada196 commented 3 years ago

Hi, the funchtion do_feature_propagate_update in the file VioManager.cpp may have bug, you delete slam feature observation after slam feature update. when using ANCHORED_INVERSE_DEPTH_SINGLE representation, slam feature need being observed twice before using in slam update, if slam observation being remove here, it will never to be observed twice, which means slam feature cannot be updated after it being add to states.

goldbattle commented 3 years ago

Yes I believe there is a PR mention this (#170).