lack header file imu_state.h

[anchao1997]

lack header file imu_state.h in cam_state.h and feature.hpp

I wonder how to solve it

[vkopli]

I actually copied this code over from the msckf_vio package: https://github.com/KumarRobotics/msckf_vio/tree/master/include/msckf_vio

I’m not sure why this worked when I was using it, or what changed, but the easiest thing you could do is just copy over imu_state.h from the package linked above.

From there, you can figure out whether some of those files/imports are really necessary in the first place, or whether you can just delete them.

[vkopli]

Essentially what happened is we reused the image processor from msckf_vio. The image processor identifies “features” or corners in the depth camera’s video feed, and assigns them a new ID number if they haven’t been seen before. I just made use of whatever features the image processor outputted.

I copied over the minimal files to make things work at the time, so it’s possible that the contents of imu_state.h were never used, and you could just get rid of the import of imu_state.h altogether.

[anchao1997]

oh, thanks