Xiaoliang Jiao
Xiaoliang Jiao
No, the problem still exists :(
Hi @jingnanshi, thanks author :)
Hi doctor jiao, If we use left perturbation to derive jacobian, the `PoseLocalParameterization::Plus()` , pose_local_parameterization.cpp#L42 , maybe changed to `q_plus = (dq *q).normalized();`, as it is a globally pertubation in...
Hi author, I find a interesting thing. I did two experiments, the test conditions are: * `estimate_extrinsic: 0` in config file. * `CHECK_JACOBIAN = 1;` estimator.cpp#L816 * `if (CHECK_JACOBIAN &&...
No, the two case's source points are different. The `analytical` jacobians are the same with `perturbation` in both case, no matter what the jacobians are.
 Because our jacobian in the point to line residual wrt ΔR exists a small difference, `The difference is whether plus Utility::skewSymmetric(t_ext)`, i guess the influnence is small. But...
Hi @rzhao88, sorry for late reply. I tried to switch to `fa23f9b493347452ea3a029b088b7694f766053f` commit of fast_gicp. When using with `NDT_CUDA_D2D` and `NDT_CUDA_P2D`, hdl complains tf error. But when using with `FastVGICP_CUDA`,...
I did a test, it seems that when using [hdl_400.bag.tar.gz](http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz) with imu, the imu's acc and gyro in the bag, we should enable `invert_imu_acc` and `invert_imu_gyro`. Note: imu's orientation is...
Thanks for koide3's detailed reply. :+1:
You are welcome :)