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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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Some Clarification in Code #316

Closed oguzhan-ilter closed 6 months ago

oguzhan-ilter commented 7 months ago

Dear MaRS Lab Team,

First of all, thank you for publishing and still maintaining your work. I have two questions related to some parts of implementation that I could not find any mention in papers.

  1. Could you please explain the filtering mechanism in laserMapping.cpp at line 676? How is the threshold set?
  2. Could you please clarify the IMU initialization part? In file IMU_Processing.hpp starting from line 345, first IMU covariance values are calculated, and after that they are set to predefined values (cov_acc_scale). Is it a bug?

Thank you!

stale[bot] commented 7 months ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

stale[bot] commented 6 months ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.