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borglab / gtsam Public

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Fix/covariances#2384

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JzHuai0108 wants to merge 5 commits intoborglab:fix/covariancesborglab/gtsam:fix/covariancesfrom

JzHuai0108:fix/covariancesJzHuai0108/gtsam:fix/covariancesCopy head branch name to clipboard

Conversation Commits5 (5)Checks Files changed

Open

Fix/covariances#2384
JzHuai0108 wants to merge 5 commits intoborglab:fix/covariancesfrom
JzHuai0108:fix/covariances

Commits

Commits on Feb 2, 2026

validate jac and cov conventions in gtsam IMU factors
JzHuai0108
committed
proper imu factor residual cov
JzHuai0108
committed
adjust nees computation
JzHuai0108
committed

Commits on Feb 3, 2026

make manifold preintegration jac and cov consistent
JzHuai0108
committed
speed up ManifoldPreintegration update Jacobian computation
JzHuai0108
committed

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