Why is the **weight** the square root of the number of points? about fast_gicp HOT 4 CLOSED

Ah, it may be contaminated from other formulations I had been trying. Using w without sqrt should be correct. Note that I found that w has only a small effect as long as the spatial density of points is more or less uniform.

from fast_gicp.

@koide3 Oh, thanks for your kindly reply!

But what does the spatial density of points is more or less uniform mean? Maybe it means that all the voxels have roughly the same number of points?

from fast_gicp.

Yes, I meant unless a voxel has 10x or more points than other voxels, the effect of w is small. In many cases, you can just ignore it.

from fast_gicp.

OK, I got it! Thanks for your hearty explanation! 👍

from fast_gicp.