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並前往https://i4k.xyz/article/CSDN_XCS/90404234

VINS-Fusion代码按执行顺序阅读（一）_CSDN_XCS的博客

... double dz = imu_msg->linear_acceleration.z; double rx = imu_msg->angular_velocity.x; ... Vector3d acc(dx, dy, dz); Vector3d gyr(rx, ry, rz); estimator.

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