Gavin Gao
Gavin Gao
2. 最好看看代码，看看文件路径对不对 3. 看README中的Doc链接 4. 通过IMU建立运动学方程，激光雷达作为观测，修改下现有的开源单线激光雷达定位代码，应该比较好实现；然而，对于反光板，我不了解
@yuzhou01 1、2 没有问题； 3、`Fx.block(6,12)`代码中是正确的，blog中书写错误，可以看IMU和VO融合的slides（下图），他们的IMU运动学公式对应同一套代码 
@yuzhou01 1、看slides中测量方程 4、检查jacobian就是验证他的正确性 5、可以跑数据集，跟真值比
Through the information you gave, can't I help you solve the problem, can you provide more information?
it works well on my computer with the code and the bag file. maybe you can look for the problem carefully again.
@mark-91 you should be noticed that the input of the project are raw data of IMU and 6DoF odometry
@SkyPigZhu the formula of the measurement Jacobian in code `measurementH()` is defined as `-r(x)/delta X` while the form of `h(x)/delta X` is defined in my article.
> Eigen::Quaterniond q1(vo_q.toRotationMatrix() * Tcb.linear()); > Eigen::Matrix4d m4 = quat_left_matrix((q2 * q0).normalized()) * quat_right_matrix(q1.conjugate()); > > why the code is q1 = vo_q.toRotationMatrix() * Tcb.linear() ，but thr formula in article...
> ok, thanks , and I find that if the measurement is not very accurate(such as the position has a average error of 15 mm , angle error is 5-6degree),...
> @cggos Thanks for your codes. Besides what is the meaning of the subscript bn in the measurement function h(x)? @zzhh00 the `Bn` is the IMU coordinate of the nth...