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Covariance matrix init bug #262

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doomzzju opened this issue Jul 22, 2022 · 0 comments · Fixed by #264
Closed

Covariance matrix init bug #262

doomzzju opened this issue Jul 22, 2022 · 0 comments · Fixed by #264
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@doomzzju
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doomzzju commented Jul 22, 2022 •
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Hi patrick,
Looks like there is a bug at:

open_vins/ov_init/src/static/StaticInitializer.cpp

Line 147 in 2575d93

covariance.block(3, 3, 3, 3) = std::pow(0.017, 2) * Eigen::Matrix3d::Identity(); // q

the index of quaternion in the covariance matrix should be 0 not 3.

:D
@goldbattle goldbattle added the bug Something isn't working label Jul 22, 2022
goldbattle added a commit that referenced this issue Jul 26, 2022
@goldbattle
fix #262 index values
71b86b4
@goldbattle goldbattle mentioned this issue Jul 26, 2022
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Develop v2.6.2 rpng/open_vins
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