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Published 20 hours ago • verified publisher icon hku-mars

Odometry Covariance

Open nuyhead-hwang opened this issue 3 years ago • 0 comments

Hello!

I have some questions about publish odometry message and covariance.

  1. Is there any reason that odomAftMapped published before the covariance is defined? https://github.com/hku-mars/FAST_LIO/blob/a56a0c544ae305e9b00ca4cd4e262d20703fdaa8/src/laserMapping.cpp#L585

  2. And the covariance is defined in the code below, why is the order of covariance(position, orientation) reversed in this part? https://github.com/hku-mars/FAST_LIO/blob/a56a0c544ae305e9b00ca4cd4e262d20703fdaa8/src/laserMapping.cpp#L593

  3. Is the covariance P also set according to the definition order in the code below? So, is P(12,12) to P(14,14) the covariance for velocity state, depending on the order of definition? https://github.com/hku-mars/FAST_LIO/blob/a56a0c544ae305e9b00ca4cd4e262d20703fdaa8/include/use-ikfom.hpp#L12

Regards

nuyhead-hwang avatar Sep 07 '22 10:09 nuyhead-hwang