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minwoo0611 / MA-LIO

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
GNU General Public License v2.0
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fix #11

Closed chengwei0427 closed 10 months ago

chengwei0427 commented 10 months ago

Data access is out of bounds, and add more imu for continous predict.

minwoo0611 commented 10 months ago

Thank you for your pull request! Actually, the imu prediction needs different number of IMU measurement due to the logging environment (not identical interval time). Thus, it seems be great to increase the number of IMU measurement for prediction. Also, starting with count 1 has more readability than count 0. Therefore, I merge the this pull request.