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更新先验b_prior_时，为什么是“减法”？ #13

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jyzhong opened this issue Oct 13, 2022 · 0 comments

jyzhong commented Oct 13, 2022

VINS-Course/src/backend/problem.cc

Line 473 in 75b9586

    
           b_prior_ -= H_prior_ * delta_x_.head(ordering_poses_);       // update the error_prior

贺博，你好。请问，更新b_prior_的时候，为什么是“减法”？ b_prior_ -= H_prior_ * delta_x_.head(ordering_poses_);我的理解是“加法”，请问，我哪里出错了？

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