From 407ce600e3d93df3f2f89ee3a3d2fd303ac817cb Mon Sep 17 00:00:00 2001 From: janusz Date: Sat, 12 Sep 2026 14:07:54 +0200 Subject: [PATCH] LM factor damping exposed --- apps/lidar_odometry_step_1/lidar_odometry_utils.h | 2 ++ apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils.h b/apps/lidar_odometry_step_1/lidar_odometry_utils.h index 6be99f12..47402fc2 100644 --- a/apps/lidar_odometry_step_1/lidar_odometry_utils.h +++ b/apps/lidar_odometry_step_1/lidar_odometry_utils.h @@ -135,6 +135,8 @@ struct LidarOdometryParams double lidar_odometry_motion_model_fi_1_sigma_deg = 0.01; double lidar_odometry_motion_model_ka_1_sigma_deg = 0.01; + double lm_factor_damping = 10; + // motion_model first trajectory node prior uncertainty double lidar_odometry_motion_model_fix_origin_x_1_sigma_m = 0.000001; double lidar_odometry_motion_model_fix_origin_y_1_sigma_m = 0.000001; diff --git a/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp b/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp index 46b309f2..ef42b663 100644 --- a/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp +++ b/apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp @@ -2207,7 +2207,7 @@ bool process_worker_step_lidar_odometry_core( if (debugMsg) spdlog::info("lm_factor {}, delta {:.10f}", lm_factor, delta); - lm_factor *= 10.0; + lm_factor *= params.lm_factor_damping; } if (stopwatch_realtime.elapsed().count() > params.real_time_threshold_seconds)