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hku-mars / r2live

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package
GNU General Public License v2.0
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Some questions about feature extraction. #58

Closed h-k8888 closed 2 years ago

h-k8888 commented 2 years ago

Thank you for your excellent work. These are some questions about feature extraction. What is the geometric principle of the r2live/src/fast_lio/feature_extract.cpp and the difference between https://github.com/hku-mars/r2live/blob/e719ca266ab53ca8915ca4e1416152993f2a55d7/r2live/src/fast_lio/feature_extract.cpp#L18 Is there a reference paper？ Thank you very much for your answer.

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