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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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Groundtruth Initialization Orientation Covariance #284

Closed zhangyanyu0722 closed 1 year ago

zhangyanyu0722 commented 1 year ago

https://github.com/rpng/open_vins/blob/b12569c6697d1471da1523f1daec8c4f9e80f7fb/ov_msckf/src/core/VioManagerHelper.cpp#L50

Cov.block(3, 3, 3, 3) -->  Cov.block(0, 0, 3, 3) ?