[QUESTION] the confused unit about ranges_inverse_sum and residual

[democheng]

Have you read the documentation?

• [✔] Yes
• [] No - then this issue will be closed.

Post your theoretical questions / usage questions here.

my question is about the "ranges_inverse_sum" and the "residual" in registration.cc,

// the unit is m
double ranges_inverse_sum = ranges.sum();
// the unit is m
ranges_inverse_sum -= epsilon * ranges(idx);
// the unit is m^2
double residual = consensus_set_cardinal * x_hat(i) * x_hat(i) + sum_xi_square  - 2 * sum_xi * x_hat(i);
// the unit is confused
x_cost(i) = residual + ranges_inverse_sum;

so, I rewrite it like this:

// the unit is m^2
double ranges_inverse_sum = ranges.array().square().sum();
// the unit is m^2
ranges_inverse_sum -= epsilon * ranges(idx) * ranges(idx);
// the unit is m^2
double residual = consensus_set_cardinal * x_hat(i) * x_hat(i) + sum_xi_square  - 2 * sum_xi * x_hat(i);
// the unit is m^2
x_cost(i) = residual + ranges_inverse_sum;

Thank you in advance for answering my question.

[jingnanshi]

Hi @democheng this is a good catch! Do you mind submitting a PR? Thanks.