chennuo0125-HIT

system: ubuntu16.04 version: cuda: 9.0 pycuda: 2019.1 -------------------------------------------- i test each line of fusion.py, and found line 11 has follows problem:  is version problem ???

请问：您用的是那种全景图？全景图种类如链接 [http://www.360doc.com/content/14/0512/18/17164701_377013140.shtml](url)

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https://github.com/izhengfan/ba_demo_ceres/blob/c89b27f6c99b207ae3bf99e8fd992290a253da7a/parametersse3.cpp#L28 above line should be: ``` J_se3.block(0,0) = - J_cam * quaterd.toRotationMatrix() * skew(point); ``` or ``` J_se3.block(0,0) = - J_cam * skew(quaterd * point); ```

//利用IMU修正旋转量，根据起始欧拉角，当前点云的欧拉角修正#247 void PluginIMURotation()#248

why quaternion can subtract directly ?

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when i read the source, in the follow line, the "_measurement_" and "_expected_measurement_mean_" are seven dimension, three for translation, and other four for rotaion represented by quaternion, i cant understand...

from the paper provided by readme, i found state to optimized just has (p v q ba bg), no environment feature. should include feature in state in couple method ???

车载导航系统中，融合了imu、gps之外和一维车速信息，在过隧道时是切换到航位推算模式，该导航系统一般都有一个自标定过程: ``` 在空旷的平地: (1) 以30km/h以上的速度行驶1分钟以上，以校验DPP；（越快越好）// 校准车的输入速度与gps速度差异 (2) 左转10个圈/右转10个圈以矫正陀螺仪GSF，转弯强度为20度/s以上为好 // 矫正脱落仪内部参数 (3) 每次转弯钱彻底停止5s以上以矫正ZRO // 矫正零点漂移 (4) 有倒车的动作以矫正 Direction 综上: 先矫正DPP，再矫正GSF. ``` 请教各位专业人士，知道上述过程都是标定了哪些参数？这些参数都是干什么用的么？提前表示感谢 ：）