Questions about the process of cov transmission at Lidar point.

[hr2894235132]

您好，感谢您很好的工作！我在这里有个不懂的地方：关于transformLiDARCovToWorld函数中，lidar to body的cov传播过程中，我注意到你在公式中*的是以下两个量。括号里是英文翻译，原谅我英文不是很好。（Hello and thank you for a great job! I don't understand here: regarding the cov propagation of lidar to body in the 'transformLiDARCovToWorld' function, I noticed that you have the following two quantities in the formula.）

M3D il_rot_var = kf.get_P().block<3, 3>(6, 6);
M3D il_t_var = kf.get_P().block<3, 3>(9, 9);

这是我在之前自己添加imu的时候没有注意到的地方，想问一下对于voxelmap中的state(StatesGroup)中18维的cov，好像并没有定义的外参的var，我该从哪获得这个信息呢，或者我该参考一些什么公式呢？希望您可以在百忙中抽空回复一下，万分感谢！（This is something I didn't notice when I added imu before, I want to ask where do I get this information for the 18-dimensional cov in the state(StatesGroup) in voxelmap, there seems to be no defined external parameter var, or what formula should I refer to? I hope you can take time out of your busy schedule to reply, thank you very much!）