manyang-yihang

How to get initial gravity direction estimate during IMU initialization

2

Dear @richard-elvira , @jj-gomez I have some confusion about [the way in the implementation to get the initial estimate of the direction of gravity](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/LocalMapping.cc#L1238) Here are my thoughts: Based on...