WZG3661

import_images() cannot read initpose

2

import_images() doesnt have the init_pose param

write wrong in your code

2

on the line 113, 114 of esekf.py, I think you write wrong It should be: `if gt_measurement[3] < 0: gt_measurement[3:7] *= -1`

What's the meaning of 'apriltag.c:448: homography_compute2: Assertion `max_val_idx >= 0' failed.'?

1

an error ccurred accidentally: apriltag.c:448: homography_compute2: Assertion `max_val_idx >= 0' failed. what's the meaning of this error? did I do something wrong?

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

Relative pose from imu to camera

3

Hi, I have some small questions about your dataset. 1. In each sequence, there is a `Transformations.txt` which defines transformations between different coordinate frames. And the `TS_cam_imu` is the relative...

use `run_bag` but very slow

1

When I ran the `rosbag.launch`, the program runs very slow, it seems to run in real time. Did I set some parameters wrong? I just use camera and imu, set...