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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system
https://arxiv.org/abs/2106.11857
GNU General Public License v3.0
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Question about a jacobian #25

Closed fushi219 closed 2 years ago

fushi219 commented 2 years ago

What do these two following lines mean?

https://github.com/SpectacularAI/HybVIO/blob/e325353846d9026de6001f593134bed77824469d/src/odometry/triangulation.cpp#L337-L338

Thanks!

oseiskar commented 2 years ago

Hi @fushi219. We unfortuntately cannot spend more time explaining the code line by line (ref #23 , #24). The overall purpose of the method is explained in the PIVO paper and the there is a unit test to verify that the formulas for the derivatives are correct. Each step follows from, e.g., chain rule of differentation or other generic (linear-algebraic) differentiation formulas