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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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How can I fix the position in the window？ #193

Closed wangyuanbiubiubiu closed 3 years ago

wangyuanbiubiubiu commented 3 years ago

hi，I don't want to adjust the position of the first few frames of the window. What should I do? When I turn down the covariance matrix, there will be a negative diagonal

goldbattle commented 3 years ago

You can freely set the position and yaw of the first frame since that is unobservable and can be arbitrarily chosen.