Inconformity between code and paper on calculating velocity in LocalMapping::TryInitVIO().

[DEQDON]

Hi,
First of all, thank you for your great work!
I have a question about line 605 in LocalMapping.cc, which reads:

LearnVIORB/src/LocalMapping.cc

Line 605 in b9e73ce

Eigen::Vector3d veleig = velpre + gweig*dt + rotpre*( dv + Jvba*dbiasa_eig );

According to the paper ORB-VI-SLAM, the velocity of the last KeyFrame in IMU initialization should be calculated from Equation(3). Is the code here missing the term (Jvbg * dbiasg_eig)? In my opinion, this line should be
Eigen::Vector3d veleig = velpre + gweig*dt + rotpre*( dv + Jvba*dbiasa_eig + Jvbg * dbiasg_eig);.