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Fix bugs in covariance estimation for some cases #29

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Merged
jlblancoc merged 2 commits into from
Jan 25, 2026
Merged

Fix bugs in covariance estimation for some cases #29

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cfe1f53
Update commit for mola_common
jlblancoc Jan 25, 2026
3ea9c40
fix covariance estimation bugs; add unit tests for cov2cov
jlblancoc Jan 25, 2026
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2 changes: 1 addition & 1 deletion 3rdparty/mola_common
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Submodule mola_common updated 2 files
+5 −0 CHANGELOG.rst
+1 −1 package.xml
36 changes: 19 additions & 17 deletions mp2p_icp/src/covariance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ mrpt::math::CMatrixDouble66 mp2p_icp::covariance(
mrpt::math::CMatrixDouble61 xInitial;
xInitial[0] = finalAlignSolution.x();
xInitial[1] = finalAlignSolution.y();
xInitial[0] = finalAlignSolution.x();
xInitial[2] = finalAlignSolution.z();
xInitial[3] = finalAlignSolution.yaw();
xInitial[4] = finalAlignSolution.pitch();
xInitial[5] = finalAlignSolution.roll();
Expand Down Expand Up @@ -88,48 +88,49 @@ mrpt::math::CMatrixDouble66 mp2p_icp::covariance(

mrpt::math::CVectorFixedDouble<3> ret =
mp2p_icp::error_point2point(p.local, p.global, pose);
err.block<3, 1>(idx_pt * 3, 0) = ret.asEigen();
err.block<3, 1>(static_cast<int>(idx_pt * 3), 0) = ret.asEigen();
}
auto base_idx = nPt2Pt * 3;

// Point-to-line
for (size_t idx_pt = 0; idx_pt < nPt2Ln; idx_pt++)
{
// Error
const auto& p = in.paired_pt2ln[idx_pt];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_point2line(p, pose);
err.block<3, 1>(base_idx + idx_pt * 3, 0) = ret.asEigen();
const auto& p = in.paired_pt2ln[idx_pt];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_point2line(p, pose);
err.block<3, 1>(static_cast<int>(base_idx + idx_pt * 3), 0) = ret.asEigen();
}
base_idx += nPt2Ln * 3;

// Line-to-Line
// Minimum angle to approach zero
for (size_t idx_ln = 0; idx_ln < nLn2Ln; idx_ln++)
{
const auto& p = in.paired_ln2ln[idx_ln];
mrpt::math::CVectorFixedDouble<4> ret = mp2p_icp::error_line2line(p, pose);
err.block<4, 1>(base_idx + idx_ln * 4, 0) = ret.asEigen();
const auto& p = in.paired_ln2ln[idx_ln];
mrpt::math::CVectorFixedDouble<4> ret = mp2p_icp::error_line2line(p, pose);
err.block<4, 1>(static_cast<int>(base_idx + idx_ln * 4), 0) = ret.asEigen();
}
base_idx += nLn2Ln;
base_idx += nLn2Ln * 4;

// Point-to-plane:
for (size_t idx_pl = 0; idx_pl < nPt2Pl; idx_pl++)
{
// Error:
const auto& p = in.paired_pt2pl[idx_pl];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_point2plane(p, pose);
err.block<3, 1>(idx_pl * 3 + base_idx, 0) = ret.asEigen();
const auto& p = in.paired_pt2pl[idx_pl];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_point2plane(p, pose);
err.block<3, 1>(static_cast<int>(base_idx + idx_pl * 3), 0) = ret.asEigen();
}
base_idx += nPt2Pl * 3;

// Plane-to-plane (only direction of normal vectors):
for (size_t idx_pl = 0; idx_pl < nPl2Pl; idx_pl++)
{
// Error term:
const auto& p = in.paired_pl2pl[idx_pl];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_plane2plane(p, pose);
err.block<3, 1>(idx_pl * 3 + base_idx, 0) = ret.asEigen();
const auto& p = in.paired_pl2pl[idx_pl];
mrpt::math::CVectorFixedDouble<3> ret = mp2p_icp::error_plane2plane(p, pose);
err.block<3, 1>(static_cast<int>(base_idx + idx_pl * 3), 0) = ret.asEigen();
}
base_idx += nPl2Pl * 3;

// cov-to-cov:
for (size_t idx_cov2cov = 0; idx_cov2cov < nCov2Cov; idx_cov2cov++)
Expand All @@ -142,8 +143,9 @@ mrpt::math::CMatrixDouble66 mp2p_icp::covariance(

const Eigen::Matrix3d cov_inv = p.cov_inv.asEigen().cast<double>();

// TODO: Add sqrt(COV) term?
err.block<3, 1>(idx_cov2cov * 3, 0) = cov_inv * ret.asEigen();
// Apply the inverse covariance weighting (Mahalanobis distance)
err.block<3, 1>(static_cast<int>(base_idx + idx_cov2cov * 3), 0) =
cov_inv * ret.asEigen();
}
};

Expand Down
1 change: 1 addition & 0 deletions tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ endif()
#mp2p_add_test(mp2p_matcher_pt2pl) # TODO: This now requires a NP metric map to run the test
mp2p_add_test(mp2p_error_terms_jacobians)
mp2p_add_test(mp2p_georef_yaml)
mp2p_add_test(mp2p_cov2cov)
mp2p_add_test(mp2p_icp_algos)
mp2p_add_test(mp2p_map_serialization)
mp2p_add_test(mp2p_matcher_pt2pt_parameterizable)
Expand Down
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