Open jy84-choi opened 1 year ago
I've got a lot of help from slambook. I am always grateful. While I was studying ieskf-based slam with reference to faster-lio, I had a question.
I don't understand what the variable valid_corr means in the ObsModel function.
valid_corr
ObsModel
https://github.com/gaoxiang12/faster-lio/blob/5db8e8c1b86693db0412721e6049701deaf4012e/src/laser_mapping.cc#L587
When I commented out that lines for valid_corr, the results seem to be bad. So I thought it is important for the performance of algorithm. Could you please explain the meaning and role of the variable valid_corr?
I've got a lot of help from slambook. I am always grateful. While I was studying ieskf-based slam with reference to faster-lio, I had a question.
I don't understand what the variable
valid_corrmeans in theObsModelfunction.https://github.com/gaoxiang12/faster-lio/blob/5db8e8c1b86693db0412721e6049701deaf4012e/src/laser_mapping.cc#L587
When I commented out that lines for
valid_corr, the results seem to be bad. So I thought it is important for the performance of algorithm. Could you please explain the meaning and role of the variablevalid_corr?