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v2 should be normalized before being used in the Rodrigue’s formula #66

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XingXiaoxiao opened this issue Nov 23, 2023 · 0 comments

XingXiaoxiao commented Nov 23, 2023

https://github.com/Livox-SDK/LIO-Livox/blob/2296e4bea59bcfec09624a6f052fd6bfbe2b1e6a/src/segment/pointsCorrect.cpp#L241C1-L241C1

In function GetRTMatrix_cor, the local variable v2 should be normalized before being used in the Rodrigue's formula

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