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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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solveGyroscopeBias #71

Open shopkauf opened 7 years ago

shopkauf commented 7 years ago

Hi, I am trying to understand the math in the function solveGyroscopeBias( ), it seems different from the ISMAR'17 paper (Sec 6.2.1 Gyroscope Bias), and also different from the VINS-Mono technical report Eq. 14. Your help is very much appreciated, if you could point me to the correct equations. Thanks!

qintonguav commented 7 years ago

It's totally same with Eq 14 in the technical report.

image

image

tmp_A is jacobian

tmp_b is image

luodanping commented 5 years ago

Hi, It is hard for me to understand this assignment expression. Attempts tried by searching the internet,but still failed..

tmp_A = frame_j->second.pre_integration->jacobian.template block<3, 3>(O_R, O_BG);

  1. block is a member function of Matrix in Eigen to get a block of matrix, but what is it here?
  2. what is .template? and what is the syntax between .template and block?

Can anybody tell me.. Thanks

chennuo0125-HIT commented 4 years ago

@luodanping @shopkauf you can see this blog https://blog.csdn.net/qq_41839222/article/details/89106128, explain perfect!

cheslee-z commented 11 months ago

Hi, It is hard for me to understand this assignment expression. Attempts tried by searching the internet,but still failed..

tmp_A = frame_j->second.pre_integration->jacobian.template block<3, 3>(O_R, O_BG);

  1. block is a member function of Matrix in Eigen to get a block of matrix, but what is it here?
  2. what is .template? and what is the syntax between .template and block?

Can anybody tell me.. Thanks

I also encounter the same problem, have you solved it?

luodanping commented 11 months ago

您好，      您的邮件我已收到，我将尽快回复您。

cheslee-z commented 11 months ago

Hi, It is hard for me to understand this assignment expression. Attempts tried by searching the internet,but still failed.. tmp_A = frame_j->second.pre_integration->jacobian.template block<3, 3>(O_R, O_BG);

  1. block is a member function of Matrix in Eigen to get a block of matrix, but what is it here?
  2. what is .template? and what is the syntax between .template and block?

Can anybody tell me.. Thanks

I also encounter the same problem, have you solved it?

maybe you could refer this instruction https://eigen.tuxfamily.org/dox/TopicTemplateKeyword.html

luodanping commented 11 months ago

Hi, It is hard for me to understand this assignment expression. Attempts tried by searching the internet,but still failed.. tmp_A = frame_j->second.pre_integration->jacobian.template block<3, 3>(O_R, O_BG);

  1. block is a member function of Matrix in Eigen to get a block of matrix, but what is it here?
  2. what is .template? and what is the syntax between .template and block?

Can anybody tell me.. Thanks

I also encounter the same problem, have you solved it?

maybe you could refer this instruction https://eigen.tuxfamily.org/dox/TopicTemplateKeyword.html

Thanks for your kindly share. It's the right reference for someone who runs into the same problem