E=λE_stereo+E_imu

[Ginger-Light]

Hi,

Thanks for sharing the code.

I have the issue, I try to find the λ factor before E_stereo in the code, In detail, it shoulb be in void EnergyFunctional::solveSystemF() but I didn't find it.

Excuse me, it was not added λ here, or I was not carefulty enough to find it.

Thanks again for your code

[studennis911988]

The λ factor in the objective function actually goes into the information matrix(W) in G-N normal equation (J^TWJ x = -JWr), so you can find the λ factor in double PointFrameResidual::linearizeStereo(CalibHessian* HCalib) which is located in Residuals.cpp.

float lambda = stereo_weight;

Wish this might help! :)

[Ginger-Light]

The λ factor in the objective function actually goes into the information matrix(W) in G-N normal equation (J^TWJ x = -JWr), so you can find the λ factor in double PointFrameResidual::linearizeStereo(CalibHessian* HCalib) which is located in Residuals.cpp.

float lambda = stereo_weight;

Wish this might help! :)

My friend! Thank u very much!

This is Lagrange Multiplier, right?

[studennis911988]

It has nothing to do with Lagrange Multiplier. Since DSO is a direct method, it can't normalized the norm of visual and imu residual to the non-dimensional terms（ Mahalanobis distance）as it's typically done in featured-based VIO system, so VI-DSO just uses a λ to weight between visual and imu energy function.

[Ginger-Light]

It has nothing to do with Lagrange Multiplier. Since DSO is a direct method, it can't normalized the norm of visual and imu residual to the non-dimensional terms（ Mahalanobis distance）as it's typically done in featured-based VIO system, so VI-DSO just uses a λ to weight between visual and imu energy function.

Thank you for helping me understand this！