Thank you very much for your work. I am currently using Point-LIO as the odometry for the steering wheel chassis, which has multiple odometry units, with Point-LIO being one of them. I would now like to estimate the credibility of the odometry's coordinate data. I’ve tried using the covariance matrix from Kalman filtering to measure this, but I haven’t fully understood how Kalman filtering is implemented in the code. Could you recommend a good variable to detect the drift of the odometry? Specifically, could you point out which variable in the code can represent this level of drift?
Thank you very much for your work. I am currently using Point-LIO as the odometry for the steering wheel chassis, which has multiple odometry units, with Point-LIO being one of them. I would now like to estimate the credibility of the odometry's coordinate data. I’ve tried using the covariance matrix from Kalman filtering to measure this, but I haven’t fully understood how Kalman filtering is implemented in the code. Could you recommend a good variable to detect the drift of the odometry? Specifically, could you point out which variable in the code can represent this level of drift?