about point covariance

[deliangye]

According to the paper, covariance of point in the world:

but in the codes, it seems missing W_R_L in the second iterm, see codes: cov = state.rot_end * cov * state.rot_end.transpose() + (-point_crossmat) * state.cov.block<3, 3>(0, 0) * (-point_crossmat).transpose() + state.cov.block<3, 3>(3, 3);

So, is it a bug in the codes?

thanks!

[ChongjianYUAN]

According to the paper, covariance of point in the world:

but in the codes, it seems missing W_R_L in the second iterm, see codes: cov = state.rot_end * cov * state.rot_end.transpose() + (-point_crossmat) * state.cov.block<3, 3>(0, 0) * (-point_crossmat).transpose() + state.cov.block<3, 3>(3, 3);

So, is it a bug in the codes?

thanks!

Yes, it is a bug. I will fix it in the next commit. Thanks for your correction!