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i2Nav-WHU / IC-GVINS

A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System
GNU General Public License v3.0
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pose_parameterization.h : Why is it set to the identity matrix in ComputeJacobian? #11

Closed Aviana-Zheng closed 1 year ago

Aviana-Zheng commented 1 year ago

y3LlIpYr2T In ComputeJacobian, it is set to the identity matrix. The Jacobian derivation recommended in the ceres source code is like this： image image Dr. Tang, how did you derive your formula? Thank you.

thlsealight commented 1 year ago

The rotation vector is used rather than the quaternion when calculating the Jacobian for each factor. Hence, we do not need to calculate the Jacobian in the PoseParameterization.