search

hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
738 stars 154 forks source link

layer in eigen_value_array #41

Open YangSiri opened 1 year ago

YangSiri commented 1 year ago

https://github.com/hku-mars/BALM/blob/d91afa959f8dfad8d6e354013b9bd9048f41e597/src/benchmark/bavoxel.hpp#L39

Hi, @Zale-Liu

May i ask how to understand the meaning of layer in eigen_value_array? Is it the layer of octree or the layer for hierarchical BA?

What's the meaning of above codes?

Looking forward to your help ;)

Zale-Liu commented 1 year ago

It just give a weight for different planes. We want the planes with large eigenvalue (\lambda_3) have smaller weight. It does matter you set the "coe" as "1" and it can still work.

YangSiri commented 1 year ago

Thanks, @Zale-Liu

https://github.com/hku-mars/BALM/blob/d91afa959f8dfad8d6e354013b9bd9048f41e597/src/benchmark/bavoxel.hpp#L1058

39300.2 3184.08 585.026 47.096 100.483 259.047 3184.08 20649.1 204.423 -38.4654 157.158 -3.93334 585.026 204.423 5030.36 -68.7984 140.476 -68.8715 47.096 -38.4654 -68.7984 7.60952 -6.97505 2.29398 100.483 157.158 140.476 -6.97505 32.1939 2.27241 259.047 -3.93334 -68.8715 2.29398 2.27241 443.363

When i performed the optimization, this is part of the Hessian matrix from the above code. It can be seen that there are very large values in the rotation part of one pose compared with translation ones. Is this normal? I wonder how you set the information matrix between poses in your hierarchical BA work? Could you please give me some examples ?

YangSiri commented 1 year ago

Would this be a sign for the unsatisfied BA result?