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jbehley / SuMa

Surfel-based Mapping for 3d Laser Range Data (SuMa)
MIT License
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Questions on the equation (10) in the paper #31

Closed Tompson11 closed 2 years ago

Tompson11 commented 3 years ago

Hi! Thank you for sharing your work! I have a question on the equation (10) in your paper. According to your definition of the clamp , the denominator of (10) is always 0.5 since the first term(a cos value within [-1,1]) in clamp is always less than the third term. I wonder if I have any misunderstanding here. image

jbehley commented 3 years ago

Sorry for the late answer.

That's correct, the definition should be clamp(x,l,u) and it was intended to have values inbetween 0.5 and 1.0. Thanks for noticing the error in the definition.

hope that clarifies your question.