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HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
GNU General Public License v3.0
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边缘化那块参数好像没有消除干净 #31

Open weiliangxie opened 2 years ago

weiliangxie commented 2 years ago

image 这两个因子会引入para_rcv_dt+k和para_rcv_ddt到last_marginalization_info中，但是没有对last_marginalization_info中的这两个参数边缘化 image