source code

[guoxiaoyang12]

source code: In the Bacckend the regularity fatctors between point and plane may not be added in the optimizaton in open source code now.is this normal?

[ToniRV]

Hi @guoxiaoyang12 , The regularity factors are only added if you use the RegularBackend (see https://github.mit.edu/SPARK/Kimera-VIO/blob/master/params/Euroc/PipelineParams.yaml) And if you set the backend modality (in https://github.mit.edu/SPARK/Kimera-VIO/blob/master/params/Euroc/BackendParams.yaml) to number 4.

Technically speaking, the RegularBackend can be 4 types of backend:

• Structureless backend (aka the vanilla VioBackend)
• Structureless and projection: it will use two types of factors, structureless, and classic re-projection factors
• Projection only: classic re-projection factor
• Projection and Regularity: uses re-projection factors together with regularity factors {
• Structureless, projection, and regularity factors: it will first use structureless factors to be robust to outliers, then it will detect regularities, and for those landmarks that are expected to be on a regularity, it will transform the structureless factor to multiple projection factors together with a regularity factor with other landmarks. For more info, have a read at our paper: https://arxiv.org/abs/1903.01067

See https://github.mit.edu/SPARK/Kimera-VIO/blob/f0f1dc27c889dd16e5e0975fd290b02806959ad3/src/backend/RegularVioBackEnd.cpp#L234 for the code that switches between backend modalities inside the RegularVioBackend.

[guoxiaoyang12]

Thank you for your reply,ToniRV. As shown in the paper,the Mesher thread first calculate the 2D/3D Mesh depends on the current landmarks,secondly,using histograms to get a statistics about the norm of mesh which can calculate the Wall and floor; In the Mesher.cpp ,the spinOnce function call the updateMesh3D function to get the 3D Mesh and update the mesh_3d_...etc variables, but the variable planes_ used as Regularity factors may not be update . In other word ,the function clusterPlanesFromMesh which can extract planes may not be called by spinOnce,so plane_ variable may not be update; I hope to hear from you as soon as possible