bereze

`void Feature::cost(const Eigen::Isometry3d& T_c0_ci, const Eigen::Vector3d& x, const Eigen::Vector2d& z, double& e) const { // Compute hi1, hi2, and hi3 as Equation (37). const double& alpha = x(0); const double&...

Failed to run examples/SimplePlot in ubuntu20.04

4

When I run examples/SimplePlot in ubuntu20.04, I got errors and the program seems to be stuck: `Process finished with exit code 134 (interrupted by signal 6: SIGABRT)` But I can...

Hi, 请问一下，在代码中InEKF更新的观测是取累积旋转的最后一列，请问为什么是这样的呢？谢谢 `measure_vector = self.cumulative_rotation[:, 2] self.iekf.update("measure", measure_vector)`