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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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Covariance matrix init bug #262

Closed doomzzju closed 2 years ago

doomzzju commented 2 years ago

Hi patrick, Looks like there is a bug at: https://github.com/rpng/open_vins/blob/2575d939e7e77d4cc558260ee23eaf4da1c81d5a/ov_init/src/static/StaticInitializer.cpp#L147 the index of quaternion in the covariance matrix should be 0 not 3.

:D