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IMUPreintegrator::update() function A matrix initializated with indentity() maybe is not correct. #81

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jdcllh opened this issue Aug 26, 2022 · 0 comments
Open

IMUPreintegrator::update() function A matrix initializated with indentity() maybe is not correct. #81

jdcllh opened this issue Aug 26, 2022 · 0 comments

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@jdcllh
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jdcllh commented Aug 26, 2022

hello,
thanks your great implementation!
for A matrix initialization in IMUPreintegrator.cpp, line 91, if you initialized the A matrix with indentity, then i think, you should also let A.block<3,3>(6,3), A.block<3,3>(6,0) and A.block<3,3>(3,0) to zero, as show below Forster supplementary paper:
image
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