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Thank you for sharing. Can you give the detailed derivation process of Jacobi? #114

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BuaaYfl opened this issue Feb 15, 2023 · 0 comments

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@BuaaYfl
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BuaaYfl commented Feb 15, 2023

          Yes, it is an approximated way; the covariances of source points are fixed at the linearization point and do not change during cost evaluation. I implemented an exact version with covariance drivatives, but it didn't improve accuracy nor stability while making optimization significantly slow. If you want, you can try it at the following link:

https://github.com/SMRT-AIST/fast_gicp/blob/87cd6288d14bd155e8b7a2144f68bb5246aecc52/include/fast_gicp/gicp/gicp_loss.hpp

Originally posted by @koide3 in #80 (comment)

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