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oseiskar avatar oseiskar commented on June 10, 2024

Hello. You are correct, those Jacobians are intermediary steps and the goal is computing the Jacobian of the reprojection errors accurately (by differentiating an entire Gauss-Newton iteration process) so the MSCKF nullspace projection trick is not needed. This is the main difference between PIVO and MSCKF. HybVIO is a derivative of the PIVO method in this sense.

What it actually differentiated in that code block are (related to) the left and right hand side of a Gauss-Newton update step in the triangulation process.

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fushi219 avatar fushi219 commented on June 10, 2024

Thanks a lot! I have understood the jacobians mentioned above, however, i can't figure out these:

const Vector3d dX_Eerror = -X.solve(dETE.block<3, 3>(0, j * 3) * X.solve(Eerror));
dpfi.col(j) += -X.solve(dEerror.col(j)) - dX_Eerror;
wish to get some help. Thanks!

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