Monocular/Stereo Visual-Inertial ORB-SLAM based on ORB-SLAM2
License: Other
您好，感谢您的分享〜但是在运行过程中，我碰到了一个问题，我是用了euroc数据集，但是MH那个系列的，很容易和媒体都顺利通过了，但是到MH_04_difficult和MH_05_difficult都不能通过，会报段错误核心转储存，请问您知道这是什么原因吗？
VI_ORB_SLAM2/src/IMU/IMUPreintegrator.cpp
Line 112 in 1964f44
_J_R_Biasg = dR.transpose()*Jr*dt
实验结果挺好，后续的实验数据处理的工具有吗？
I think, that in function Vector3d SO3::logAndTheta(const SO3 & other, double * theta)
can be error.
two_atan_nbyw_by_n never be changed if ( fabs(w)<SMALL_EPS)
as title
error: ‘StorageIndex’ is not a member of ‘g2o::LinearSolverEigen::SparseMatrix {aka Eigen::SparseMatrix<double, 0>}’
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