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numerical unstable in preintegration

4

Hi there, I am testing the VINS-Fusion with stereo inertial config, the code run properly and the GUI (rivz) is showing the correct results, but it always suddenly goes into...

pangolin::Plotter change linewidth

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Hi, I am using pangolin::Plotter for plotting figures, notice that there are solid line, dashed line, and dotted line for line style. Is there an option for changing the line...

Hi, In code intro.py [actual noise propagation](https://github.com/mbrossar/SE2-3-/blob/master/intro.py#L86), `T[:, k] = Gamma.bmm(Phi).bmm(T_k).bmm(tmp2)` where [`T_k`](https://github.com/mbrossar/SE2-3-/blob/master/intro.py#L84) is the exponential mapped generated multivariate Gaussian noise using the Cholesky decomposition of the covariance matrix. I...

Code missing in preintegration.py

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Hi there, In the file preintegration.py [plot_results](https://github.com/mbrossar/SE2-3-/blob/master/preintegration.py#L156) def plot_results(vs, results, k_maxs, alpha): The code is incomplete. Also, there is a typo in the paper equation (42)~ ...

Hi there, For the IMU model measurement, could you please also provide the bias of the gyroscope and accelerometer? Thanks