First, thanks for the great project!!
I have a question about about the initial value of Rs[j]. In processIMU() we have _Rs[j] = Utility::deltaQ(un_gyr dt).toRotationMatrix();_ to update Rs[j]. I think the initial value of Rs[j] should be the end value of Rs[j-1], since Rs should be in reference frame. But I didn't find such code about initialization, I am very confused.
First, thanks for the great project!! I have a question about about the initial value of Rs[j]. In processIMU() we have _Rs[j] = Utility::deltaQ(un_gyr dt).toRotationMatrix();_ to update Rs[j]. I think the initial value of Rs[j] should be the end value of Rs[j-1], since Rs should be in reference frame. But I didn't find such code about initialization, I am very confused.