The Inconsistent Pose in CombinedIMUFactor and SmartProjectPoseFactor

[shisheng]

Hi everyone,

I am trying to fuse CombinedIMUFactor and SmartProjectPoseFactor using ISAM2 in GTSAM4.0, but now the inconsistent Pose cordinate of such two factors makes me confused. As my understanding, the Pose P = [Rwb, wp] in the CombinedIMUFactor maps a point from frame B to W, however, the Pose P = [Rcw, cp] in the SmartProjectPoseFactor maps from W to C, [see the gtsam4.0 source code]. I don't know how to make the Pose cordinate of the two factors consistent. Could anyone tell me? Or did I have a wrong understanding? @fdellaert @lucacarlone

[Mandy Xie]

Hi, please ask questions in gtsam google group. https://groups.google.com/forum/#!forum/gtsam-users