search

hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
708 stars 152 forks source link

About the function acc_evaluate2 in class VOX_HESS in file bavoxel.hpp #43

Open chronofei opened 1 year ago

chronofei commented 1 year ago

Hello, author, I am very sorry to bother you. I deduced the first-order and second-order derivatives according to the relevant formulas given in Theorem 4 in the paper Efficient and Consistent Bundle Adjustment on Lidar Point Clouds, but they are not exactly the same as those given in the source code, Have you made relevant omissions in the source code? Can you give me some advice? thank you very much.

Zale-Liu commented 1 year ago

Please referring to "left_evaluate_acc2" which is implemented by the formula in the paper.