imu_cursor is not used in loose_initial_state_estimation.cpp

[KOKIAOKI]

Describe the bug Hello! koide3! Thank you for your support always.

I wonder why imu_cursor is not used for imu_data in this line.

const Eigen::Vector3d acc_local = imu_data[i].middleRows<3>(1);

To Reproduce Is the following correct?

const Eigen::Vector3d acc_local = imu_data[imu_cursor].middleRows<3>(1);

Then, run to check

ros2 run glim_ros glim_rosbag [bag file]

Expected behavior I think this will correct the estimation of the direction of gravitational acceleration while moving.

Screenshots I haven't seen any differences in the test data, but I'll update if I find any changes in other data.

Environment (please complete the following information):

• CPU/GPU: Corei7-13700H (laptop)
• OS: ubuntu22
• ROS: ROS2 humble
• CUDA: CUDA12.2
• Build with CUDA: ON

Additional context

[koide3]

Thanks for reporting the issue. Yes, it should use imu_cursor instead of i. I'll fix it soon. Fortunately, this bug should only have a small impact because sum_acc_odom is used for only rough initial estimation of the gravity direction.

[koide3]

I just merged a PR to fix this issue https://github.com/koide3/glim/pull/119. Thanks again for your report.