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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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Estimator::evaluateFeatJacobian() #9

Closed narutojxl closed 3 years ago

narutojxl commented 3 years ago

Hi author, I'm curious about in case ESTIMATE_EXTRINSIC == 0, when we calculating jacobian of corner points, it directly is Eigen::Matrix<double, 1, 6>::Identity(), estimator.cpp#L1342, we don't use LidarPureOdomEdgeFactor::Evaluate(). For surf points, we calculate jacobians with LidarPureOdomPlaneNormFactor::Evaluate(). Could you please give a little explaination :), thanks for your help and time!

gogojjh commented 3 years ago

You really pointed out a good question... the Jacobians of edge features should be also evaluated...

narutojxl commented 3 years ago

Thanks author :), my problem is solved, close it now.

gogojjh commented 3 years ago

Thanks for your detailed reading on M-LOAM. If you find any confusion or issues, please not hesitate to ask. This will help me to fix some remaining bugs in M-LOAM. Since I am currently busy with several ddls ... I will try to fix these issues ASAP.

Jianhao.

narutojxl commented 3 years ago

Thanks for author sharing your knowledge and your kind, i learned a lot !