about covariance - Githubissues

vectr-ucla / direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

MIT License

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Closed whw-create closed 1 year ago

whw-create commented 1 year ago

thank you for your excellent work，it seems that you didn't calculate covariance of source cloud in every loop, Or maybe I missed it somewhere?