pre-integration problem

[Yingsheng123]

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

[HeYijia]

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.

[jerryjifjsdbf]

So you just need to change this function of initialStructure() in vins-mono

[Yingsheng123]

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?