From 7efec05be4c64b2966ee42266b46fa7d674ecfd8 Mon Sep 17 00:00:00 2001
From: lyc <email>
Date: Wed, 20 Jul 2022 20:37:58 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B0=BA=E5=BA=A6bug?=
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---
 src/G2oTypes.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/G2oTypes.cc b/src/G2oTypes.cc
index 0fb0b9a..0404424 100644
--- a/src/G2oTypes.cc
+++ b/src/G2oTypes.cc
@@ -831,8 +831,8 @@ void EdgeInertialGS::linearizeOplus()
     // Jacobians wrt scale factor
     // _jacobianOplus[3] 9*1矩阵 总体来说就是三个残差分别对尺度求导
     _jacobianOplus[7].setZero();
-    _jacobianOplus[7].block<3,1>(3,0) = Rbw1*(VV2->estimate()-VV1->estimate());
-    _jacobianOplus[7].block<3,1>(6,0) = Rbw1*(VP2->estimate().twb-VP1->estimate().twb-VV1->estimate()*dt);
+    _jacobianOplus[7].block<3,1>(3,0) = Rbw1*(VV2->estimate()-VV1->estimate()) * s;
+    _jacobianOplus[7].block<3,1>(6,0) = Rbw1*(VP2->estimate().twb-VP1->estimate().twb-VV1->estimate()*dt) * s;
 }
 
 /**