[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
I ran DLIO on some sample data and I noticed kf.second->points.size() == kf.second->width * kf.second->height is always true. So is there any need for a branching?
What is the point of the branching here:
https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/bed8ae38dc7ccfa8b75a869f7afe83a83990a9c1/src/dlio/odom.cc#L474-L489
I ran DLIO on some sample data and I noticed
kf.second->points.size() == kf.second->width * kf.second->heightis always true. So is there any need for a branching?