Preintegration

> The λ factor in the objective function actually goes into the information matrix(W) in G-N normal equation (J^TWJ x = -JWr), so you can find the λ factor in...

> It has nothing to do with Lagrange Multiplier. > Since DSO is a direct method, it can't normalized the norm of visual and imu residual to the non-dimensional terms（...

hello! Did you solve it?