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fix(confused unit)the unit of ranges_inverse_sum and residual is m^2 now #158

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fix(confused unit)the unit of ranges_inverse_sum and residual is m^2 now #158

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10 changes: 7 additions & 3 deletions teaser/src/registration.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,14 @@ void teaser::ScalarTLSEstimator::estimate(const Eigen::RowVectorXd& X,

// calculate weights
Eigen::RowVectorXd weights = ranges.array().square();
// the unit is m^2
double ranges_inverse_sum = weights.sum();
weights = weights.array().inverse();
int nr_centers = 2 * N;
Eigen::RowVectorXd x_hat = Eigen::MatrixXd::Zero(1, nr_centers);
Eigen::RowVectorXd x_cost = Eigen::MatrixXd::Zero(1, nr_centers);

double ranges_inverse_sum = ranges.sum();

double dot_X_weights = 0;
double dot_weights_consensus = 0;
int consensus_set_cardinal = 0;
Expand All @@ -62,13 +64,15 @@ void teaser::ScalarTLSEstimator::estimate(const Eigen::RowVectorXd& X,
consensus_set_cardinal += epsilon;
dot_weights_consensus += epsilon * weights(idx);
dot_X_weights += epsilon * weights(idx) * X(idx);
ranges_inverse_sum -= epsilon * ranges(idx);
// the unit is m^2
ranges_inverse_sum -= epsilon * ranges(idx) * ranges(idx);
sum_xi += epsilon * X(idx);
sum_xi_square += epsilon * X(idx) * X(idx);

x_hat(i) = dot_X_weights / dot_weights_consensus;

// the unit is m^2
double residual = consensus_set_cardinal * x_hat(i) * x_hat(i) + sum_xi_square - 2 * sum_xi * x_hat(i);
// the unit is m^2
x_cost(i) = residual + ranges_inverse_sum;

}
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