In the RT version, the JdPwb express different from the master version?

[jyzhong]

@jingpang in the RT version , Matrix<double,3,3> JdPwb = - Jpi * (-Rcb*Rwb.transpose()); while, int the master version , Matrix<double,3,3> JdPwb = - Jpi * (-Rcb);

when i try change the expression in the master as the same with RT version ,i test mh_01_easy with a tracking lost. what is the correct expression of JdPwb ? Hope get your message,thanks!

[jyzhong]

@lianbin > @jyzhong Have you figured out this problem?I also have this question.

Obviously, the right expression is uniqueness. I just wonder why the wrong format is ok.