kennyjchen
commented
2 years ago Hi @narutojxl -- thanks for your interest in our work!
Great catch -- the indices should be extracted from the original list of convex/concave keyframes (rather than from the distance vector). Your second point is also correct in that we should be using the most current positional estimate during the search (although in practice this difference is most likely negligible).
Thanks for the keen eye! We've fixed both of these bugs in v1.3.0 and have credited you accordingly. Let us know if there are any other issues.
narutojxl
Hello authors, Thanks for sharing this excellent work to let us study firstly :) In getSubmapKeyframes() we call computeConvexHull() to calculate the keyframes indice whose position(xyz) consist of convex hull, we then push the indices into
keyframe_convex. Now let we suppose keyframe_convex's content iskeyframe_convex = [3, 6, 8, 10, 13].We then push the distance between curr scan position to each of keyframe_convex position one by one from begining intoconvex_ds.Let we suppose convex_ds isconvex_ds =[1.0, 0.2, 1.4, 0.3, 3.0]. Then inpushSubmapIndices()we calculate submapkcv smallest elements, which represent submapkcv nearest convex keyframes indices from current scan position. Let we suppose submapkcv = 2. In pushSubmapIndices distance 0.2 and 0.3 will be sorted, so we push indice = 1 and indice = 3 intosubmap_kf_idx_curr, but i think we should push the corresponding indices inkeyframe_convexnamely 6 and 10 intosubmap_kf_idx_curr, which are distance 0.2 and 0.3 correspond keyframe indices, right?If i mistake somewhere code please correct me. If I'm right, the same problem also in pushSubmapIndices() of computeConcaveHull(). BTW, this->pose in L1252 is last scan position in global frame, why not use the current scan's guess value in global frame, namely
this->T_s2s, we get from this->propagateS2S(T_S2S);. Maybe the robot movement is small and lidar frequency is 10hz, we can ignore this effect. Thanks for your time and help very much in advance!