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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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how to tune the parameters? #31

Closed liuyf5231 closed 4 years ago

liuyf5231 commented 4 years ago

Hi koide3, my launch params,

 <param name="ndt_neighbor_search_method" value="DIRECT7" />
   <param name="ndt_resolution" value="6.0" />
     <param name="downsample_resolution" value="2.0" />
 the ndt align drift a little,how can I tune the ndt parameters？

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koide3 commented 4 years ago

Hi @liuyf5231 , downsample_resolution = 2.0 is too large. Set a smaller value (e.g., 0.1) to it.