Applicability to indoor scenes about fast_gicp HOT 5 OPEN

Hi @aditya2592 ,
It would be possible, but you need to change the voxel resolution parameter. The default resolution is 1m, it is too large for indoor scenes. For indoor scenes, you can try 0.05 ~ 0.5m resolution depending on the situation.

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Thanks for the tip. Any other parameters do you think that need to be changed? I also noticed that corr_dist_threshold_ parameter is not being used in fast_vgicp_impl.hpp. Without the threshold, how do we determine valid correspondences?

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Because VGICP takes the voxelization approach that naturally cut off distant correspondences, it doesn't have corr_dist_threshold param. You can consider that the voxel resolution is something equivalent to that param.

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Thanks, I noticed significant improvement after changing the search method to DIRECT7 in addition to reducing the voxel resolution, and also changing the regularization method to FROBENIUS

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Hi
Is your task to use it to realize location?

LM getting stuck between two poses，scan matching has not converged!

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