Comments (3)
Hi @kailaili and all,
- I'm very sorry for the Q1 question. I mistake the
vector<int> keyframe_idx;
, its content begins from1
, not0
. Sorry again ! - For Q2 question, i give some my reasons about the guess. If there are some mistakes, please tell me, look forward to disscuss with you.
lili-om/LiLi-OM-ROT/include/factors/LidarKeyframeFactor.h
Lines 28 to 54 in 97b6352
cp
point is laser's point in current laser's frame.q
andt
is the corresponding time the imu's pose in the global framemap
, namely theimu0
frame. we use the extrinsicqlb
andtlb
between laser and imu, transformcp
into imu's frame, gotp_w
. then we useq
andt
transformp_w
intomap
frame.lpa
andlpb
are the corresponding edge features inmap
. Is it a typo?- I notice that calculate surf points's residual, we use the
point_w
, not thecp
point.
lili-om/LiLi-OM-ROT/include/factors/LidarKeyframeFactor.h
Lines 89 to 104 in 97b6352
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Hi @narutojxl, thanks for your interest in this work. I'm sorry to reply to you so late. I checked the code, and you are right about Q2 question. This is a typo. It should be p_w instead of cp. These large residuals are suppressed by the Cauchy kernel function, so I didn't find this typo. I'm really sorry to make this typo, and thanks for pointing it out. I have fixed it, and we will update the code soon. If you have other questions, welcome to discuss with us.
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@limeng1523, thanks very much ! My problen is solved.
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