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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 triangulateLinear #37

Closed fushi219 closed 1 year ago

fushi219 commented 1 year ago

Hi! I'm confused about the jacobian below, it seems that the term "S0inv Q S0inv" is the jacobian of S0inv to normalized v(vn), but how it is derivate? Thanks a lot! https://github.com/SpectacularAI/HybVIO/blob/main/src/odometry/triangulation.cpp#L879

fushi219 commented 1 year ago

Chain role, i got it, thanks.