search

hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
700 stars 151 forks source link

edge feature #31

Closed wangq0688 closed 1 year ago

wangq0688 commented 1 year ago

Dear Author.

Will subsequent versions update the edge feature module?

Zale-Liu commented 1 year ago

In our former test, the edge feature will reduce the precision and waste time. Therefore, we will not add back the edge feature in the future. If you want to use the edge feature in your program, you just need add the Hesssian and Jacobian matrix of lambda_2 and lambda_3 directly (lambda_1 > lambda_2 > lambda_3) compared with only lambda_3 in the plane points.

wangq0688 commented 1 year ago

thanks for your reply，Can I get the corresponding Hesssian and Jacobian matrix by changing the value of kk in function acc_evaluate2 (bavoxel.hpp l53) ? If kk=1, am I getting the residual of lambda2?

Zale-Liu commented 1 year ago

thanks for your reply，Can I get the corresponding Hesssian and Jacobian matrix by changing the value of kk in function acc_evaluate2 (bavoxel.hpp l53) ? If kk=1, am I getting the residual of lambda2?

Yes, when you set kk=1, you get the residual, Hessian and Jacobian matrix for lambda2.