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GentleDell / imu_preintegration_Cpp

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Coding #1

Open shinfang opened 6 years ago

shinfang commented 6 years ago

I'm currently implementing IMU Preintegration theory in my coding based on your coding. Would like to ask if you've tested you coding and make sure it's working before?

GentleDell commented 6 years ago

Yes, I have tested the preintegration but the Jacobian and error function have not been tested yet.

Lachiven commented 3 years ago

您好，想问下您最终测试Jacobian和噪声矩阵了么，不知道这两个怎么使用，能交流一下么？1353632881@qq.com。另外因子图的加入和手推的预积分是作比较用的么？因子图的库好像带了预积分的功能？

GentleDell commented 3 years ago

No, I did not test them. I haven't worked on this project for 4 years (since 2017) and there is plan to update it.

I would propose you to read this paper for more details about how to use the Jacobian and the variance matrix.

Yes, I added them for comparison.

The factor graph provides a good sample of how to do IMU preintegration and you can follow the sample to build your own application. I used it 3 years ago and it worked pretty good.

Hope this helps.