Re: Forcing 3DoF won't work on localization using libpointmatcher

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Forcing-3DoF-won-t-work-on-localization-using-libpointmatcher-tp5863p5868.html

Hi,

You should set the following parameters:
Icp/CorrespondenceRatio: 0.1
Icp/DownsamplingStep: 1
Icp/Epsilon: 0.01
Icp/Iterations: 10
Icp/MaxCorrespondenceDistance: 0.3
Icp/MaxTranslation: 0
Icp/PM: true
Icp/PMOutlierRatio: 0.65
Icp/PointToPlane: true
Icp/VoxelSize: 0.3
Reg/Force3DoF: true

to rtabmap node too with also "Reg/Strategy: 1" (not needed for icp_odometry, it is already set to that by default).

For more help, can you provide the launch file?

cheers,
Mathieu