EdgeInertialGS Jacobians calculate issue

[Lagrange1027]

Hi,all: when I read ImuInitialize ，I found a issue in EdgeInertialGS Jacobians calculate , please hellp me make a check ,thanks!

I think maybe the result should look like this

[Lagrange1027]

sorry，I know the reason， It‘s my fault

[khudkhud]

It also confused me.

[khudkhud]

@Lagrange1027 请教您一下： 后来的推导，增量为什么要乘以旋转矩阵呢？

[zhh2005757]

sorry，I know the reason， It‘s my fault

I think the jacobian w.r.t the translation of Pose 2 is not exactly the $\bar{p}_i$ in the paper. It should be $p_i$ where $p_i=R^T_i * \bar{p}_j$ here. And that's what it is in the code.

[Turing47]

I think the question is good, and code could be wrong.