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MOLA module: Front-end for point-cloud sensors based on generic ICP algorithms. LiDAR odometry and loop closure.

License: GNU General Public License v3.0

CMake 3.14% C++ 96.86%
mola slam lidar

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jtpils zarmomin signalimagecv zwenjiang gary-robotics mfkiwl

mola-fe-lidar's Issues

`/mola/demos` parameters outdated

When I try to run the demo Demo: Velodyne dataset in Rawlog format, 3D-LiDAR SLAM, I get following error:

Screenshot from 2021-03-22 12-15-29

When I look at the rawlog_odom_and_lidar.yml line 114:

icp_params_with_vel.maxIterations:  10    90
icp_params_with_vel.thresholdDist:   1.0   0.50   # [meters]
icp_params_with_vel.thresholdAng:    2.0   0.01   # [deg]
# Case: WITHOUT a good twist (velocity) model:
icp_params_without_vel.maxIterations:   5     100
icp_params_without_vel.thresholdDist:   3.0   0.50  # [meters]
icp_params_without_vel.thresholdAng:    2.0   0.01  # [deg]
# Case: Loop closure
loop_closure_montecarlo_samples: 10
icp_params_loopclosure.maxIterations: 10    40    90
icp_params_loopclosure.thresholdDist: 30.0  5.0  0.50  # [meters]
icp_params_loopclosure.thresholdAng:   2.0  0.5  0.01  # [deg]

Is correct that this as to be refactored to icp_settings_with_vel? Simply changing icp_params to icp_settings does not resolve the issue. I've also tried mola/demos/ros1_velodyne_slam.yml, this gives the same issue.

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