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gaoxiang12 / faster-lio

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels
GNU General Public License v2.0
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Maybe a typo in updating cov_acc_ #48

Open qipengliuNTU opened 1 year ago

qipengliuNTU commented 1 year ago

https://github.com/gaoxiang12/faster-lio/blob/5db8e8c1b86693db0412721e6049701deaf4012e/include/imu_processing.hpp#L304-L312

Why do you compute cov_acc_ in line 305 if you simply set cov_acc_ = cov_acc_scale_ . A typo maybe. This problem also appears in Fast-LIO code.