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fix the scan time calculation bug and change the definition of blind to the 'minimum range'.

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This commit is contained in:
xw
2021-08-25 03:05:43 -04:00
parent dcc38885ac
commit 94973cb309
6 changed files with 82 additions and 60 deletions
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21
include/IKFoM_toolkit/esekfom/esekfom.hpp
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@@ -1634,22 +1634,25 @@ public:
{
dyn_share.valid = true;
h_dyn_share(x_, dyn_share);
if(! dyn_share.valid)
{
continue;
}
//Matrix<scalar_type, Eigen::Dynamic, 1> h = h_dyn_share(x_, dyn_share);
#ifdef USE_sparse
spMt h_x_ = dyn_share.h_x.sparseView();
#else
Eigen::Matrix<scalar_type, Eigen::Dynamic, 12> h_x_ = dyn_share.h_x;
#endif
#ifdef USE_sparse
spMt h_x_ = dyn_share.h_x.sparseView();
#else
Eigen::Matrix<scalar_type, Eigen::Dynamic, 12> h_x_ = dyn_share.h_x;
#endif
double solve_start = omp_get_wtime();
dof_Measurement = h_x_.rows();
vectorized_state dx;
x_.boxminus(dx, x_propagated);
dx_new = dx;
if(! dyn_share.valid)
{
continue;
}
P_ = P_propagated;

1
include/common_lib.h
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@@ -60,6 +60,7 @@ struct MeasureGroup // Lidar data and imu dates for the curent process
this->lidar.reset(new PointCloudXYZI());
};
double lidar_beg_time;
double lidar_end_time;
PointCloudXYZI::Ptr lidar;
deque<sensor_msgs::Imu::ConstPtr> imu;
};