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修改尺度bug

master
lyc 2022-07-20 20:37:58 +08:00
parent 5d57b1d807
commit 7efec05be4
1 changed files with 2 additions and 2 deletions
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4
src/G2oTypes.cc
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@ -831,8 +831,8 @@ void EdgeInertialGS::linearizeOplus()
// Jacobians wrt scale factor // 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[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].setZero();
_jacobianOplus[7].block<3,1>(3,0) = Rbw1*(VV2->estimate()-VV1->estimate()); _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); _jacobianOplus[7].block<3,1>(6,0) = Rbw1*(VP2->estimate().twb-VP1->estimate().twb-VV1->estimate()*dt) * s;
} }
/** /**