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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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find a bug in mtkmath.hpp #235

Closed biao-y closed 1 year ago

biao-y commented 1 year ago

https://github.com/hku-mars/FAST_LIO/blob/02d022e3164cc39afdc56618a056bbaac9aa4d57/include/IKFoM_toolkit/mtk/src/mtkmath.hpp#L253 scalar mult = cos_sinc.second * scale; // bug !!! 应该是scalar mult = cos_sinc.second / sqrt(norm2);

Joanna-HE commented 1 year ago

Hi, there is no bug. It is mult = cos_sinc.second * scale, sqrt(norm2) has already been divided in the cos_sinc_sqrt() function.

Ecstasy-EC commented 1 year ago

The issue is closed for being solved.