The VIO ESIKF issues

[xiaofafafafa]

如代码中的一行代码所示
if ((rot_add.norm() * 57.3 < 3) &&
(t_add.norm() < 0.5) &&
(mean_reprojection_error < 1.0))
{
g_lio_state = state_aft_integration;
eigen_q q_I = eigen_q(1.0, 0, 0, 0);
double angular_diff = eigen_q(g_lio_state.rot_end.transpose() * state_before_esikf.rot_end).angularDistance(q_I) * 57.3;
double t_diff = (g_lio_state.pos_end - state_before_esikf.pos_end).norm();
if ((t_diff > 0.2) || (angular_diff > 2.0))
{
g_lio_state = state_before_esikf;
}
}
}
}
//下面这一步更新会不会使得上面的if ((t_diff > 0.2) || (angular_diff > 2.0))判断没有作用？
g_lio_state = state_before_esikf;
t_s.tic();
estimator.solve_image_pose(img_msg->header);

[stale]

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