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marginalization code question #40

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levenJun opened this issue Sep 6, 2022 · 0 comments
Open

marginalization code question #40

levenJun opened this issue Sep 6, 2022 · 0 comments

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@levenJun
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levenJun commented Sep 6, 2022

2022-09-06_17-28

如图在Estimator.cpp执行完滑窗优化，对lidar特征factor作边缘化时，我理解这里是要对第0帧相关factor作边缘化操作，计算的transformTobeMapped应该对应是第0帧的pose，frame_curr应该切换到第0帧了，而这里的frame_curr似乎还是第1帧。不知是我理解错了还是这里漏了代码。
please correct me,thanks!
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@levenJun