Difference between loop detector's fitness score and information matrix's fitness score

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

1.98k stars 726 forks source link

Difference between loop detector's fitness score and information matrix's fitness score #159

Open zhimouliang opened 3 years ago

zhimouliang commented 3 years ago

Hi, I have noticed that you set a different maximum distance in the fitness score in NDT matching between loop detector and information matrix calculation. The one in loop detector you use 2.0 meter to reject correspondences but in information matrix calculation you use numeric_limits::max(). Are there any reason behind this choice? I am very curious about this. Thanks in advance.