raphael/msckf_vio
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added changed formulation, no positive result

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This commit is contained in:
Raphael Maenle
2019-05-16 15:53:07 +02:00
parent 2ee7c248c1
commit 6b208dbc44
4 changed files with 98 additions and 147 deletions
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6
include/msckf_vio/msckf_vio.h
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@ -195,9 +195,9 @@ class MsckfVio {
// for a single feature observed at a single camera frame.
void measurementJacobian(const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
Eigen::Matrix<double, 4, 6>& H_x,
Eigen::Matrix<double, 4, 3>& H_f,
Eigen::Vector4d& r);
Eigen::Matrix<double, 2, 6>& H_x,
Eigen::Matrix<double, 2, 3>& H_f,
Eigen::Vector2d& r);
// This function computes the Jacobian of all measurements viewed
// in the given camera states of this feature.
void featureJacobian(const FeatureIDType& feature_id,