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why in function "EstimateGyroBias", when estimating gyro bias of IMU, there can ignore the extrinsic parameters beween IMU and Lidar?
Eigen::Quaterniond q_ij(laser_trans_i.second.transform.rot.conjugate() * laser_trans_j.second.transform.rot); tmp_A = laser_trans_j.second.pre_integration->jacobian_.template block<3, 3>(O_R, O_BG); /// Jacobian of dr12_bg tmp_b = 2 * (laser_trans_j.second.pre_integration->delta_q_.conjugate() * q_ij).vec(); /// 2*vec(IMU_ij^T * q_ij)
Why tmp_b is not :
2*vec(IMU_ij^T *(rbl* q_ij* rlb))
Thanks a lot!
The text was updated successfully, but these errors were encountered:
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why in function "EstimateGyroBias", when estimating gyro bias of IMU, there can ignore the extrinsic parameters beween IMU and Lidar?
Why tmp_b is not :
2*vec(IMU_ij^T *(rbl* q_ij* rlb))
Thanks a lot!
The text was updated successfully, but these errors were encountered: