Ran Cheng

 I build them with mingw64 but still, the large margin on top exists, I reckon it could be the QGLWidget related problem, since this class was depreciated for a...

 When I change the layout outside the `mViewPortXYZ` into `QHBoxLayout`, it immediately shift the margin to the left... ```xml ```

have a look here guys: `ORB-SLAM3`'s `YAML` file has the following unit: `rad/s^0.5` and `m/s^1.5`: you probably calibrated the `noise density` with `kalibr`, please make sure you convert it back...

@wwendy233 are you calibrating the imu with this tool: [imu_utils](https://github.com/gaowenliang/imu_utils) ?

@kintzhao you probability built your `Sophus` library with an older version. simply modify your code to `#include ` rather than `#include ` similar to `se2.hpp` and other modules in `Sophus`....

After tried to refactor this whole project, I found it's impossible to migrate into older Sophus version, simply build a newer `Sophus` and don't waste your time.

@log00544 is right, and please note that if you want to build Sophus against Eigen 3.3, remember to build ceres against eigen3.3 first.

> Hi @jimaldon and @NikolausDemmel I think the -O2 or -O3 is missing in the cmakelist which probably causes poor performance when running the examples. was trying to open a...

what I did in my docker is to do this: ```shell sed -i '6i INCLUDE_DIRECTORIES\(\"/root/opencv_contrib-3.4.1/modules/xfeatures2d/include\"\)' /root/opencv/modules/stitching/CMakeLists.txt ``` Please modify the line number `6i` and `/root/opencv_contrib-3.4.1` based on your custom version.