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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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EdgeInertialGS Jacobians calculate issue #500

Open Lagrange1027 opened 2 years ago

Lagrange1027 commented 2 years ago

Hi,all: when I read ImuInitialize ，I found a issue in EdgeInertialGS Jacobians calculate , please hellp me make a check ,thanks!

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I think maybe the result should look like this

微信图片_20220224215249
Lagrange1027 commented 2 years ago

sorry，I know the reason， It‘s my fault

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khudkhud commented 2 years ago

It also confused me.

khudkhud commented 2 years ago

@Lagrange1027 请教您一下： 后来的推导，增量为什么要乘以旋转矩阵呢？

zhh2005757 commented 1 year ago

sorry，I know the reason， It‘s my fault

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I think the jacobian w.r.t the translation of Pose 2 is not exactly the $\bar{p}_i$ in the paper. It should be $p_i$ where $p_i=R^T_i * \bar{p}_j$ here. And that's what it is in the code.

Turing47 commented 2 months ago

I think the question is good, and code could be wrong.