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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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simulation generated pointcloud with different structure #37

Closed huanglilong closed 1 year ago

huanglilong commented 1 year ago

@Zale-Liu thanks for great works for BALM2.0,
but i confused in plane pointcloud generation, looks like plSurfs[i] has different structure. https://github.com/hku-mars/BALM/blob/df9a376db9f573b4faf0562c11dcc176b685d18d/src/benchmark/benchmark_virtual.cpp#L580

my comments. // plane normal vector and center in global frame, these two vectors vary in different pointcloud(plSurfs[i]) surfDirect[i] = rot.col(2); surfCenter[i] << randRange(e), randRange(e), randRange(e);

// pvec(randVoxel(e), randVoxel(e), randThick(e)); in samping frame // pvec = rot pvec + surfCenter[i]; in global frame // pvec = xBuf[j].R.transpose() (pvec - xBuf[j].p); in body frame Eigen::Vector3d pvec(randVoxel(e), randVoxel(e), randThick(e)); pvec = rot pvec + surfCenter[i]; pvec = xBuf[j].R.transpose() (pvec - xBuf[j].p);

generated two pointcloud from this part code. looks like these have different structure. image image

huanglilong commented 1 year ago

same plane with different pose in one pointcloud