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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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Why treat ANCHORED_INVERSE_DEPTH_SINGLE as ANCHORED_MSCKF_INVERSE_DEPTH when update features? #445

Closed WZG3661 closed 5 months ago

WZG3661 commented 6 months ago

in UpdateMSCKF.cpp https://github.com/rpng/open_vins/blob/17b73cfe4b870ade0a65f9eb217d8aab58deae19/ov_msckf/src/update/UpdaterMSCKF.cpp#L179-L183 and In UpdateSLAM.cpp https://github.com/rpng/open_vins/blob/17b73cfe4b870ade0a65f9eb217d8aab58deae19/ov_msckf/src/update/UpdaterSLAM.cpp#L159-L165 https://github.com/rpng/open_vins/blob/17b73cfe4b870ade0a65f9eb217d8aab58deae19/ov_msckf/src/update/UpdaterSLAM.cpp#L338-L342