Fix incorrect jacobian for edge_se3_xyz_prior and add unit test for it #558
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Codecov Report
@@ Coverage Diff @@
## master #558 +/- ##
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+ Coverage 46.10% 46.16% +0.05%
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Files 271 271
Lines 10572 10574 +2
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+ Hits 4874 4881 +7
+ Misses 5698 5693 -5
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Added unit tests for
EdgeSE3XYZPriorto show current implementation ofEdgeSE3XYZPrior::linearizeOplus()is incorrect. SinceVertexSE3is updated in the local frame (right multiply with increment), its rotation should be taken into account. I was trying to introduce a GPS edge but it didn't work well and found this discussion in gtsam: Jacobian for a translation component of Pose3 (e.g PartialPriorFactor), which could be a reference.Haven't contributed to g2o before so apologies if I'm missing part of the workflow.