Kostia

perhaps, this line of code https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L161 should contain this ``` GYR_N * GYR_N ``` but not ``` ACC_N * GYR_N ```

Plase, clarify this. Shouldn't this line of code https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L188 be something like this ``` L.block(3, 3) = 2 * Utility::Qleft(Quaterniond::Identity()).template bottomRows(); ``` basicaly similar to https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L195

Any plans on publishing code?

3

Would be happy to play with your code. Do you plan to publish it?