Minor change in setting, test with unknown wt_0, at_0
Sensor calib drifts but very slowly. Proceed to test more dramatic cases
Simplify a notation in test_diff_so3
Without camera at,vt,tsb cannot be estimated
No luck with the full model, back to simple imu model
env2 seems to converge
No luck adding wb ab g0, back to naive case
change file name
added the renamed test script
Add w_only_test.m
so3_gla supports slightly off skew matrix
Mark: Given (rx, tx) (w+wb, a+ab), successful tracking