Skip to content

LM factor damping exposed #531

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
JanuszBedkowski merged 1 commit into from
Sep 12, 2026
Merged

LM factor damping exposed #531

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
2 changes: 1 addition & 1 deletion apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
Loading