Re: "libpointmatcher has failed

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/libpointmatcher-has-failed-tp8081p8669.html

Hi,
you can increase Icp/MaxTranslation (default 0.2) if the robot is moving fast or lidar frequency is low. This is the maximum icp correction accepted. This limit helps to reject very bad ICP convergences, but should be adjusted based on the speed of the robot and lidar frequency. For example, with a car driving up to 100 km/h and a lidar rotating at 10 Hz, you may increase it to 3 meters, as the biggest possible ICP translation would be 2.78 meters between two consecutive scans.