Jacobian derivation for lidar odometry in LMOptimization() function

TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

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Jacobian derivation for lidar odometry in LMOptimization() function #382

Open shounak873 opened 1 year ago

shounak873 commented 1 year ago

Hi, where can I get the derivation for the Jacobians used in LMOptimization( ) function? Thanks!

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