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izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
https://github.com/izhengfan/se2lam
MIT License
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Jacobian formula problem of 'PreEdgeSE2' ? #19

Closed FaiScofield closed 4 years ago

FaiScofield commented 4 years ago

https://github.com/izhengfan/se2lam/blob/f65b502202b6d2be7dbc4b691b6792bde4bfa5c4/include/se2lam/EdgeSE2XYZ.h#L95

我计算了好几遍, 也用数值法验算过, 得到这里的值应该是 -1 ?
看g2o里面'EdgeSE2'也是-1. 还是我哪里搞错了吗?~

izhengfan commented 4 years ago

你是对的，我改过来，感谢纠错