gogojjh comments

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                                            gogojjh

lidar_pure_odom_factor

I think the major difference is the choice of left/right perturbation on ``SO(3)``. Both choices are allowed since they are the approximations. But using the left perturbation can may the...

lidar_pure_odom_factor

Have you checked that the points (data for calculating the residuals) are the same in two cases?

lidar_pure_odom_factor

The Jacobians from **analytical** and **perturbation** are the same, meaning that the derived Jacobians are approximate. You can try to change the formulas of Jacobians and check later. They will...

lidar_pure_odom_factor

Thanks for your experiments, I will check later.

without extrinsic optimization ?

Yes

question on solving iterative reighted least-squares

Regarding your question: ''Is there a omitted step that the residual in equation (2) is transformed into a function with respect to delta x. Then the state x is calculated...

How to get calibration parameter?

Hi, could you please modify change the value of ```result_save``` to ```true```?

why adding a sub H here?

Hi, you can check our paper: "Greedy-Based Feature Selection for Efficient LiDAR SLAM". In algorithm 1, line 11, we need to add the ``sub Hessian matrix'' to the complete Hessian...

Any trial on ESDF and gradient computation

Thanks for your reply. The first question is asking about the residual and gradient calculation from the TSDF. Some existing works have explored the way that tracking cameras' motion directly...

Any trial on ESDF and gradient computation

Thanks for your detailed explanation! I can share some recent progress with you and hope that they are useful: 1. I found that openvdb supports gradient computation. I also implemented...