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NDTCuda "lm not converged!!" #119
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Maybe it suffered from degeneration of LiDAR data. Basically, NDTCuda in this repo is a lazy implementation written in one holiday, and it's not robust compared to the NDT implemenation in PCL. I do not recommend using it anywhere other than (very) feature-rich environments. |
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Hi @koide3,
I was using the NDTCuda method on the first 11 sequences of KITTI (0-10), and in the terminal output, I saw the message "lm not converged!!" along with very poor accuracy (I measured the Average Translational Error of sequence 01 to be 1295.11 meters!!).
Could you point me to where I could learn more about this error message as well as what I can do to improve the performance?
Thanks!
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