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hello,if i want to use it in VINS-MONO,should i change pre-integration of vins-mono,the algorithm is not work well in vins-mono now, i just transplant bias and translation part
The text was updated successfully, but these errors were encountered:
You don't need to modify the imu pre-integration code of vins-mono. You have to replace vinsmono's function initialStructure() with our algorithm, and you should carefully read the interface of these functions.
You don't need to modify the imu pre-integration code of vins-mono. You have to replace vinsmono's function initialStructure() with our algorithm, and you should carefully read the interface of these functions.
I have transplant the algorithm in vins-mono initialStructure()(without gravity optimization part),other parts remain the same as vins-mono, I find that the bias is estimate correctly(should modify addFeatureCheckParallax() function), but the translation part is incorrect. Do you know the reason?
hello,if i want to use it in VINS-MONO,should i change pre-integration of vins-mono,the algorithm is not work well in vins-mono now, i just transplant bias and translation part
The text was updated successfully, but these errors were encountered: