fix git submodule update (remove remote update)

Author: Unsigned-Long

build_thirdparty.sh

@@ -37,7 +37,6 @@ echo "----------------------------------------------------"
 echo "update submodules remotely, it may take some time..."
 echo "----------------------------------------------------"
 git submodule update --init --recursive
-git submodule update --remote --recursive
 if [ $? -ne 0 ]; then
     echo "--------------------------------------------"
     echo "error occurs when updating submodules, exit!"

docs/details/news.md

@@ -29,9 +29,7 @@
 
 For more details about the newly released RGBD-Inertial calibration method, please refer to our article :point_down::
 
-```tex
-# todo
-```
++ **S. Chen**, X. Li*, S. Li, and Y. Zhou. iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation[J]. arXiv:2409 [cs.RO]. [paper-arXiv (uploading)]
 
 Other small changes in this version are:
 

readme.md

@@ -28,7 +28,7 @@
 For more details, please refer to our article :point_down::
 
 + **S. Chen**, X. Li*, S. Li, Y. Zhou, and X. Yang. iKalibr: Unified Targetless Spatiotemporal Calibration for Resilient Integrated Inertial Systems[J]. arXiv:2407.11420 [cs.RO]. [[paper-arXiv](https://arxiv.org/abs/2407.11420)] [[video](https://www.bilibili.com/video/BV1Dm421G7FV/?vd_source=87245258ec5029cca67d77cef1a6201d)]
-+ iKalibr-RGBD: todo
++ **S. Chen**, X. Li*, S. Li, and Y. Zhou. iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation[J]. arXiv:2409 [cs.RO]. [paper-arXiv (uploading)]
 
 ---
 

src/solver/calib_solver_da_impl.cpp

@@ -599,15 +599,15 @@ std::map<std::string, std::vector<OpticalFlowCorr::Ptr>> CalibSolver::DataAssoci
                 Eigen::Vector2d lVec = subAMat * LIN_VEL_DnToBr0InDn;
                 Eigen::Vector2d bMat = corr->MidPointVel(readout) - subBMat * ANG_VEL_DnToBr0InDn;
                 Eigen::Vector1d HMat = bMat.transpose() * bMat;
-                double estDepth = (HMat.inverse() * bMat.transpose() * lVec)(0, 0);
-                double newRawDepth = intri->RawDepth(estDepth);
+                double estimatedDepth = (HMat.inverse() * bMat.transpose() * lVec)(0, 0);
+                double newRawDepth = intri->RawDepth(estimatedDepth);
 
                 // spdlog::info(
                 //     "raw depth: {:.3f}, actual depth: {:.3f}, est depth: {:.3f}, new raw depth: "
                 //     "{:.3f}",
                 //     corr->depth, actualDepth, estDepth, newRawDepth);
 
-                if (estDepth < 1E-3) {
+                if (estimatedDepth < 1E-3) {
                     // depth is negative, do not  introduce it to estimator.
                     continue;
                 }