SilenceOverflow/VI_ORB_SLAM2

why _J_R_Biasg isnt same as formula (69) in paper ?

chennuo0125-HIT opened this issue · 0 comments

chennuo0125-HIT commented

VI_ORB_SLAM2/src/IMU/IMUPreintegrator.cpp

Line 112 in 1964f44

_J_R_Biasg = dR.transpose()*_J_R_Biasg - Jr*dt;

JRg isnt same as formula (69) in paper as follow picture:
1
correct should be ?

_J_R_Biasg = dR.transpose()*Jr*dt