gogojjh/M-LOAM

lidarMapper::goodFeatureMatching()

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narutojxl commented

Hi author,

  • When gf_method == "fps" in lidarMapper::goodFeatureMatching(), lidar_mapper.h#L353, I'm curious that we don't distinguish the type(surf or corner) of the starting point k, which is selected randomly. Should we distinguish it ?
  • lidar_mapper.h#L159, the res[1] seems doesn't exist, right?
  • associate_uct.hpp#L26, there is a typo, should be "plus" according to eq.45 of barfoot's paper. Thanks for your help!
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gogojjh commented

Thanks for your corrections.

  1. we should distinguish it.
  2. res[1] does not exist since the dimension of the residual is 1x1
  3. should be plus.

Thank you again, I will fix these bugs.