文章目录 0. 前言1.1 Marginalization Pipiline 1. marg factor构建1.1 变量及维度理解1.2 IMUFactor1.3 ProjectionTdFactor(ProjectionFactor)1.4 MarginalizationFactor( e p e_p ep​推导更新，FEJ解决的问题)1.4.1 先验残差的更新1.4.2 先验Jacob