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Reduce repeated computation in lidar odometry #320

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Merged
JanuszBedkowski merged 6 commits into from
Jan 20, 2026
Merged

Reduce repeated computation in lidar odometry #320

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7b8f553
convergence_delta_threshold parameter added to .toml config (lidar_od…
bloom256 Jan 19, 2026
361cd2b
compute_hessian_indoor and compute_hessian_outdoor moved to separate …
bloom256 Jan 19, 2026
6646cc3
tait-bryan poses precalculated for intermediated trajectory (lidar od…
bloom256 Jan 19, 2026
c6fd957
perf: use precomputed sin/cos in lidar odometry AtPA/AtPB kernels
bloom256 Jan 20, 2026
29e0fc9
TODO comment added about possible future optimization
bloom256 Jan 20, 2026
0c81e86
style: clang-format
bloom256 Jan 20, 2026
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2 changes: 1 addition & 1 deletion 3rdparty/observation_equations
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Submodule observation_equations updated 2 files
+112 −0 ...s/python-scripts/point-to-point-metrics/point_to_point_source_to_target_tait_bryan_wc_jacobian_simplified.h
+31 −0 codes/python-scripts/point-to-point-metrics/point_to_point_source_to_target_tait_bryan_wc_simplified.py
1 change: 1 addition & 0 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ struct LidarOdometryParams
double max_distance_lidar = 70.0; // I am not processing data above dist distance in lidar odometry
int threshold_initial_points = 10000;
int threshold_nr_poses = 20;
double convergence_delta_threshold = 1e-12; // convergence threshold for optimization

// lidar odometry debug info
bool save_calibration_validation = false;
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