About the function acc_evaluate2 in class VOX_HESS in file bavoxel.hpp

[chronofei]

Hello, author, I am very sorry to bother you. I deduced the first-order and second-order derivatives according to the relevant formulas given in Theorem 4 in the paper Efficient and Consistent Bundle Adjustment on Lidar Point Clouds, but they are not exactly the same as those given in the source code, Have you made relevant omissions in the source code? Can you give me some advice? thank you very much.

[Zale-Liu]

Please referring to "left_evaluate_acc2" which is implemented by the formula in the paper.