Fixed issue #9 by updating gtsam repo with newer commits as suggested

slam/vio_slam.py

@@ -62,7 +62,8 @@ def initial_state():
                                       gtsam.Point3(0.878612, 2.142470, 0.947262))
     true_vel = np.array([0.009474,-0.014009,-0.002145])
     true_bias = gtsam.imuBias.ConstantBias(np.array([-0.012492,0.547666,0.069073]), np.array([-0.002229,0.020700,0.076350]))
-    naive_pose = gtsam.Pose3.identity()
+    # naive_pose = gtsam.Pose3.identity()
+    naive_pose = gtsam.Pose3.Identity()
     naive_vel = np.zeros(3)
     naive_bias = gtsam.imuBias.ConstantBias()
     initial_pose = true_world_T_imu_t0

slam/visual_frontends/visual_frontend.py

@@ -45,8 +45,8 @@ def lietorch_pose_to_gtsam(pose : lietorch.SE3):
 
 def gtsam_pose_to_torch(pose: gtsam.Pose3, device, dtype):
     t = pose.translation()
-    q = pose.rotation().quaternion()
-    return torch.tensor([t[0], t[1], t[2], q[1], q[2], q[3], q[0]], device=device, dtype=dtype)
+    q = pose.rotation().toQuaternion()
+    return torch.tensor([t[0], t[1], t[2], q.x(), q.y(), q.z(), q.w()], device=device, dtype=dtype)
 
 class VisualFrontend(nn.Module):
     def __init__(self):