g2o EdgeSE3Expmap::linearizeOplus() Error?

[Tofupi]

Hi, First thanks for your shared project named se2lam!!! Can you do me a favor: In g2o source code, I read the EdgeSE3Expmap::linearizeOplus() function for odometry constrait edge. I inferred the jacobian matrix and get the result: void EdgeSE3Expmap::linearizeOplus() { VertexSE3Expmap vi = static_cast<VertexSE3Expmap >(_vertices[0]); SE3Quat Ti(vi->estimate());

VertexSE3Expmap vj = static_cast<VertexSE3Expmap >(_vertices[1]); SE3Quat Tj(vj->estimate());

const SE3Quat & Tij = _measurement; SE3Quat invTij = Tij.inverse();

//this is my result SE3Quat invTj = Tj.inverse(); SE3Quat invTi_Tij = Tj.inverse()*Tij; _jacobianOplusXi = invTi_Tij.adj(); _jacobianOplusXj = -invTj.adj(); }

But the souce code original result is: void EdgeSE3Expmap::linearizeOplus() { VertexSE3Expmap vi = static_cast<VertexSE3Expmap >(_vertices[0]); SE3Quat Ti(vi->estimate());

VertexSE3Expmap vj = static_cast<VertexSE3Expmap >(_vertices[1]); SE3Quat Tj(vj->estimate());

const SE3Quat & Tij = _measurement; SE3Quat invTij = Tij.inverse();

//this is original result SE3Quat invTj_Tij = Tj.inverse()Tij; SE3Quat infTi_invTij = Ti.inverse()invTij;

_jacobianOplusXi = invTj_Tij.adj(); _jacobianOplusXj = -infTi_invTij.adj(); }

I modified original result to mine and compiled again. then run your project demo and it works well. I want to konw the right jacobian matrix. Can I have a little time to help me inferred it again can make sure if I am right or not. Thank you very much!!!

[Tofupi]

I inferred as above

[izhengfan]

I don't understand your logic, but here is how g2o works:

https://ftp.bmp.ovh/imgs/2020/06/40477e0cc78a4820.png

[Tofupi]

Thanks for your patience. I misunderstand the inferring way. Thanks again