Questions about the jacobians in PA_test

hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping

GNU General Public License v2.0

738 stars 154 forks source link

Questions about the jacobians in PA_test #57

Closed zxd123 closed 3 months ago

zxd123 commented 4 months ago

Dear author, thanks for your excellent work. I recently was studying the code related to PA_test and I am a bit confused about the jacobians of the plane parameters in PACeresFactor, as shown in the figure below. 1721639107600-image The original jacobians in the code are represented by the red lines, while I derived that it should be in the form of the green lines. Could there be an issue with my derivation? I am eagerly awaiting your response.

Zale-Liu commented 3 months ago

If you want to use or have questions about PA (Plane Adjustment), please ask the original author for the source code. It is not our work in the paper.

zxd123 commented 3 months ago

English: Hello respected author, I found this code in the PA_test file in the current BALM repository, so I wanted to ask you about it. I apologize if I'm intruding. 中文：尊敬的作者您好，因为这段代码是在当前BALM仓库中的PA_test文件中看到的，所以想请教您一下，要是冒昧打扰了还请见谅。