dlr1516/grd

Geometric Relation Distribution (GRD) for loop closure in LiDAR 2D mapping problems.

grd's Issues

run demo

Hi,
It is a nice work!
How should I run the example? For example
. / testGlarot + ?
when i use this order :./testGlarot ../data/params_indoor.cfg

Cannot open ""
Cannot open configuration file "": using default values

Params:
cfg
cgDistMin 0.02
cgDistTol 0.2
dstId -1
enableGRD 0
enableGlarot 1
glarotCandidateNum 10
glarotRhoNum 80
glarotRhoStep 0.1
glarotThetaNum 8
grdKappa 1
grdRangeNum 8
grdSigma 0.3
grdThetaNum 5
in
out
plotOn 0
rate 20
savePlot 0
skipGapM 0.1
skipGapQ 0.25
skipScoreType triangle_diff
skipThres 0.15
srcId -1

Reading from file ""

thanks!

A

Do you have some data and config file to test on?

Maybe a bug?

I find that line 222 in functions.cpp,the formula of g0 is inconsistent with the formula （14）that in your paper.

gnuplot error

Hi,

when I turn the plotOn to true, error occured. Do you know why?

sh: 1: gnuplot: not found Finished scan 0: found 4 features

What if the pose of the laser scan was not accurate?

Hi,
I have a question about the associatePointToPoint function. In your code, the best candidate was decided by the least errPose and errAng, if the pose of the laser was drifted after long time, the pose with not correct and the judgement for the best candidate will not correct. Can we just compare the scan ranges without using pose?
What's more, if we use this method for relocalization, the initial pose of the robot is unknown. Could we get the right candidate and transformation?
Best regards.

gnuplot warnning 'set terminal '

"WARNING: Plotting with an 'unknow' terminal.
no output will be generated. please select a terminal with ' set terminal' "

Do you know how to set gnuplot terminal type 'qt' or 'x11' ?
Or, i must set gnuplot terminal type 'nox'?

tutorial

do you have any implement tutorial