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Thank you very much for sharing the code!@jingpang @MaXinjun0109 @jyzhong @ferreram I am learning your code recently, and I find the jacobian of Pwb error "JdPwb" in EdgeNavStatePointXYZ::linearizeOplus() is defrent...

One questions on PoseOptimization

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Thank you very much for sharing the code! I am learning your code recently, and I have one questions on PoseOptimization functions, could you give me some instructions? Thanks in...

Can not achieve a good closed loop in dataset

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Hey，Dr.Urban I tried the dataset（outdoor_large_loop）from your project website.It's a nice dataset ,I get a good Trajectory .But unfortunately，it can not achieve a good closed loop in the dataset .I also...