Feature/external lc downsampling #123
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nathanhhughes
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Nov 20, 2025
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| Eigen::Affine3d pose_discrepancy = to_T_from.inverse() * lc_iter->pose; | ||
| double translation_diff = pose_discrepancy.translation().norm(); | ||
| double rotation_diff = std::acos((pose_discrepancy.rotation().trace() - 1) / 2); | ||
| double rotation_scale = 1; | ||
| double pose_diff = translation_diff + rotation_scale * abs(rotation_diff); |
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I'd advocate for pulling this out and putting it somewhere more accessible (I do the same thing in PoseGraphOdom but with the frobenius norm because I was lazy). Also, I'd make the rotation scale a parameter (preferred) or drop it, I'd take a look at how I implement it for PoseGraphForOdom
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I pulled it into a function in this file, I'll let you move it elsewhere if you want to
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Also: I actually think this is the correct place for this feature, I think I'd do something different on the PGO/PGMO side if I wanted to sparsify the loop closures |
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This is a self-contained feature we implemented for active-dsg so that we could downsample the loop closures coming into Hydra. In a perfect world I think this would be handled by pgmo instead of right when we receive the loop closures, but I don't think that's feasible right now.