Question about Jacobian of state augmentation?

[FanaticsKang]

I have a question about your Jacobian in MsckfVio::stateAugmentation.
The derivative of new camera pose with repect to the translation bewtween camera and body seems more accurate as the following:

J.block<3, 3>(3, 18) = R_w_i.transpose();

Looking forward to your rely.

[ke-sun]

I think you are right. Thanks for noticing.
Did you have a chance to try the corrected Jacobian? Just wondering if it helps in improving the estimation accuracy.

[FanaticsKang]

I can't find any difference by EuRoC.
I think the default covariance is too small or the calibration error is limited.
If msckf is used in our project, I will let u know its performence.