about Degeneration

[fanhuigui]

Thank you very much for your open source code. I just finished learning it, and I found out if degradation is a benefit issue
int minRow, minCol;
if(V.minCoeff(&minRow, &minCol) < 1.0f) //if (0) //
{
VD(6) V = H_T_H.block<6, 6>(0, 0).eigenvalues().real();
cout << "!!!!!! Degeneration Happend, eigen values: "
<< V.transpose() << endl;
EKF_stop_flg = true;
solution.block<6, 1>(9, 0).setZero();
}

There seems to be no assignment to minRow and minCol, and I don't understand the usage of the V function. I don't quite understand this block

[ChongjianYUAN]

Thank you very much for your open source code. I just finished learning it, and I found out if degradation is a benefit issue int minRow, minCol; if(V.minCoeff(&minRow, &minCol) < 1.0f) //if (0) // { VD(6) V = H_T_H.block<6, 6>(0, 0).eigenvalues().real(); cout << "!!!!!! Degeneration Happend, eigen values: " << V.transpose() << endl; EKF_stop_flg = true; solution.block<6, 1>(9, 0).setZero(); }

There seems to be no assignment to minRow and minCol, and I don't understand the usage of the V function. I don't quite understand this block

This part is the code of fast-lio1, which uses the minimum eigenvalue of the Hession matrix to judge whether there is degradation. If degradation occurs, the minimum eigenvalue of the Hession matrix will be relatively small.