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ChaoqinRobotics / LINS---LiDAR-inertial-SLAM

A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter
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residual wrt translation jacobian #8

Closed narutojxl closed 4 years ago

narutojxl commented 4 years ago

Hi doctor qin, when we calculating residual(point to line and point to plane) wrt translation jacobian in translation jacobian in calculateTransformation() and translation jacobian in performIESKF(), it seems that there miss a variable s?

double s = (1.f / SCAN_PERIOD) * (keypoint.intensity - int(keypoint.intensity));

Is it right? Thanks very much !

ChaoqinRobotics commented 4 years ago

s is for undistorting motion distortion. After doing it, we assume the all points are collected in bk/bk+1 frame. As a consequence, the optimization step do not need to worry abuot the motion distortion, and we do not need to care for s in jacobian calculation

narutojxl commented 4 years ago

But the weight of every undistorted point contributing to residual jacobian is different. I think as following: 2020-05-28 14-39-06屏幕截图 Knowing you are very busy recently, please have a look when you are free. Best regards!