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zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry
GNU General Public License v2.0
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Some question about calc current scan cov in faster_voxel_grid.h #35

Closed qpc001 closed 3 months ago

qpc001 commented 4 months ago

https://github.com/zijiechenrobotics/ig_lio/blob/5d9a2ccd4cab58238f53058e6ffd93dea9ce624a/include/ig_lio/faster_voxel_grid.h#L27C1-L35C6

Why need to expand? This may be crush the system...