iVox parameters hardcoded?

[themightyoarfish]

direct_visual_lidar_calibration/src/vlcal/preprocess/dynamic_point_cloud_integrator.cpp

Line 38 in 105ca48

target_ivox.reset(new iVox(1.0, 0.05, 100));

Should this line not use the params passed to the constructor? If yes, they also look to be in the wrong order according to the parameter names in the iVox constructor.

[themightyoarfish]

I had applied this diff here, but this completely breaks the fusion of the ouster sample data

diff --git a/src/vlcal/preprocess/dynamic_point_cloud_integrator.cpp b/src/vlcal/preprocess/dynamic_point_cloud_integrator.cpp
index 1e4f32e..b7d3763 100644
--- a/src/vlcal/preprocess/dynamic_point_cloud_integrator.cpp
+++ b/src/vlcal/preprocess/dynamic_point_cloud_integrator.cpp
@@ -35,7 +35,7 @@ DynamicPointCloudIntegrator::DynamicPointCloudIntegrator(const DynamicPointCloud
   last_T_odom_lidar_begin = gtsam::Pose3();
   last_T_odom_lidar_end = gtsam::Pose3();

-  target_ivox.reset(new iVox(1.0, 0.05, 100));
+  target_ivox.reset(new iVox(params.voxel_resolution, params.min_distance, 100));

What am I missing here?

[koide3]

It's my bad. Here params.voxel_resolution is the voxel resolution for final downsampling (e.g., 0.05) while the first argument for iVox is the voxel resolution for data association (e.g., 1.0).