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hku-mars / HBA

[RAL 2023] A globally consistent LiDAR map optimization module
GNU General Public License v2.0
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There are only two layers in factor graph #8

Closed jkff00 closed 1 year ago

jkff00 commented 1 year ago

hello! The number of pose graph optimization layers seems to be only the top and bottom layers, and the middle layer does not add factor maps to participate in optimization(upper_pose && init_pose in pose_graph_optimization()).And I reproduced the park data in the paper, the ground did improve, but as indicated by the white box, some areas have degraded, can you explain? Thank!

ques

samsdolphin commented 1 year ago

Hi @jkff00, for your first question, I refer you to #5. For the second question, the area you emphasized is a building surface, which indeed should not be converged. Please change the view point of your rviz (see the images below). Screenshot from 2023-06-20 23-15-53 Screenshot from 2023-06-20 23-17-59

jkff00 commented 1 year ago

Thank you for your reply. I understand.

---Original--- From: "Xiyuan @.> Date: Tue, Jun 20, 2023 23:19 PM To: @.>; Cc: @.**@.>; Subject: Re: [hku-mars/HBA] There are only two layers in factor graph (Issue#8)

Hi @jkff00 , for your first question, I refer you to #5. For the second question, the area you emphasized is a building surface, which indeed should not be converged. Please see the images below.

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