Posting the way you are using small_gicp about small_gicp HOT 14 OPEN

Hello. I am one of the developers at TIER IV. At TIER IV, we are developing an open source autonomous driving software, Autoware, and we are using ndt_omp in it. It works very stable, and we are grateful that it is easy to make our own changes (such as dynamic map loading and covariance estimation with scores).

Recently, we have been discussing the transition to fast_gicp, and although it is still under consideration, we will also consider this small_gicp. As a first step, (it is a personal work), I have evaluated small_gicp at AWSIM Nishi-Shinjuku and obtained good results. 👍 https://tokumini.hatenablog.com/entry/2024/04/07/110000 (Sorry in Japanese)

We are greatly helped by your code. Thank you for publishing such great software!

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I have not used small_gicp directly, but I used it's predecessor fast_gicp through the hdl_graph_slam package for testing the feasibility of localizing the robot using a tactile sensor array during my master thesis in TalTech university, Tallinn and I believe that same package was used in the robominers project later on by the researchers at TalTech, although that needs confirming. small_gicp is a rather new project, so have not directly used that yet in everyday work. Thank you for your work and sharing it with the world!

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@SakodaShintaro Thank a lot for your comment! It is a pleasure to see my packages have been used in real situations.

Regarding the evaluation, I noticed that there was a bug that made termination criteria unchanged with the PCL interface. PR #15 would fix this issue and make comparison fair.

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Hello @koide3, I sincerely appreciate your contributions. I have utilized ndt_omp and fast_gicp, and I am currently delving into hdl_global_localization, direct_visual_lidar_calibration, and small_gicp. Your open-source software and scientific publications significantly enrich our research field. Thank you!

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@AndreasNagel Thanks for sharing your work! It becomes a big help for me!

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@grischi Thanks!!

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