Inconformity between code and paper on calculating velocity in LocalMapping::TryInitVIO().

[DEQDON]

Hi, First of all, thank you for your great work! I have a question about line 605 in LocalMapping.cc, which reads:

https://github.com/jingpang/LearnVIORB/blob/b9e73cefee88d7ab352508e1e11aab0990195e91/src/LocalMapping.cc#L605

According to the paper ORB-VI-SLAM, the velocity of the last KeyFrame in IMU initialization should be calculated from Equation(3). Is the code here missing the term (Jvbg * dbiasg_eig)? In my opinion, this line should be Eigen::Vector3d veleig = velpre + gweig*dt + rotpre*( dv + Jvba*dbiasa_eig + Jvbg * dbiasg_eig);.