Hi, how i can calculate the covariance of the estimated pose ?
thanks

g2o中没有 g2o::EdgeStereoNavStatePVRPointXYZ（）函数啊，编译不过去

您的系统精度很高，我最近在学习，请问有论文发表吗，以便我更好的学习

在看您的文档时说解决了非实时问题，但在运行MH05数据集时，任然出现了非实时问题，所以想咨询下，出现非实时的主要原因是什么，哪里可以改进？

为什么运行这个代码的时候一卡一卡的呀，不如ORBSLAM原版的那么流畅

hello,thanks for your share.I have tried the project.but I found the result of trajectory is different from the groundtruth .I plot the trajectory with matlab,and found this. could you tell me how to compare the trajectory with groundtruth ? thank you.

您好，我已经把你这个代码稍微修改弄了一个rgbd相机的版本，不过我发现初始化部分还有些问题，打算和你交流一下，不知道是否方便留个微信或者邮箱？

[ 3%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
[ 7%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o
/home/chenjia/ImuSLAm/LearnVIORBnorosgai2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::RecomputeIMUBiasAndCurrentNavstate(ORB_SLAM2::NavState&)’:
/home/chenjia/ImuSLAm/LearnVIORBnorosgai2/src/Tracking.cc:92:29: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int i = 0; i < N - 2; i++)
^
/home/chenjia/ImuSLAm/LearnVIORBnorosgai2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::Track()’:
/home/chenjia/ImuSLAm/LearnVIORBnorosgai2/src/Tracking.cc:904:13: warning: ‘bOK’ may be used uninitialized in this function [-Wmaybe-uninitialized]
if (bOK)
^
[ 11%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o
[ 14%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o
[ 18%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBextractor.cc.o
[ 22%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBmatcher.cc.o
[ 25%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/FrameDrawer.cc.o
[ 29%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Converter.cc.o
[ 33%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/MapPoint.cc.o
[ 37%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/KeyFrame.cc.o
[ 40%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Map.cc.o
[ 44%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/MapDrawer.cc.o
[ 48%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-4.8/README.Bugs for instructions.
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 4
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
make: *** [all] Error 2

error comes out when running:

whether acc*9.8? 0/1: 0
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Aborted (core dumped)

How to fix it ? Thanks!**

大神，你在进行轨迹对比的时候是不是将轨迹的位置和方向都做了处理？

HI, First, thank you so much for your code, and i run it very well now but still confused about several parts. I found that you changed the code for many places like the one in Optimizer.cc : you change the function GlobalBundleAdjustmentNavStatePRV() to GlobalBundleAdjustmentNavState() , and in this function you delete the optimization of velocity and add more updates;
Also in the LocalMapping,cc inside the function TryInitVIO() when the computation for IMU
is finished, you delete so many code which is more than the repeative update of keyframes and mappoints. I am confused about this part, cuz you also delete the globalBA: Optimizer::GlobalBundleAdjustmentNavStatePRV(mpMap,mGravityVec,10,NULL,nGBAKF,false); and the afterwards updates.
Do you have any note for these part or do you have any related blog website ?
Again so much thanks for you project

I would like to know the difference between LearnVIORB and LearnVIORBnorosgai2.

error occurs at about the No 300 picture
Time :15 sstar:1, s:1

---Map scale updated ----
segmentation fault

before that everything is ok
so.. what's wrong ?

integrator.cpp.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/so3.cpp.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/NavState.cpp.o
make[2]: *** 没有规则可以创建“../lib/libORB_SLAM2.so”需要的目标“../Thirdparty/DBoW2/lib/libDBoW2.so”。 停止。
make[2]: *** 正在等待未完成的任务....
[ 92%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/g2otypes.cpp.o
/home/wzm/LearnVIORBnorosgai2-master/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::RecomputeIMUBiasAndCurrentNavstate(ORB_SLAM2::NavState&)’:
/home/wzm/LearnVIORBnorosgai2-master/src/Tracking.cc:92:29: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int i = 0; i < N - 2; i++)
^
/home/wzm/LearnVIORBnorosgai2-master/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::Track()’:
/home/wzm/LearnVIORBnorosgai2-master/src/Tracking.cc:904:13: warning: ‘bOK’ may be used uninitialized in this function [-Wmaybe-uninitialized]
if (bOK)
^
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] 错误 2
make: *** [all] 错误 2
wzm@wzm-X6Ti:~/LearnVIORBnorosgai2-master$

Hi, thanks for your share.

I'm testing your project on Euroc Machine Hall 02 dataset and suddenly track gets lost about 80 - 90 seconds and that's not happen on ORB VIO. I think there must be some bug or an inverted transform.

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，easy和medium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？

hi, the result of the optimizer.computeMarginals(), is the covariance matrix about the estimated pose?