Question about triangulateLinear
fushi219 opened this issue · comments
Hi! I'm confused about the jacobian below, it seems that the term "S0inv * Q * S0inv" is the jacobian of S0inv to normalized v(vn), but how it is derivate? Thanks a lot!
https://github.com/SpectacularAI/HybVIO/blob/main/src/odometry/triangulation.cpp#L879
Chain role, i got it, thanks.