registration failure for large translation about fast_gicp HOT 1 OPEN

Hi @bpoebiapl ,
Thanks for reporting the problem. To make fast_gicp properly align your data, I had to downsample input data (with 0.4m voxel_grid) and limit the correspondence distance (reg.setMaxCorrespondenceDistance(1.0)). I think this result implies that the problem stems from the instability of the optimizer.
In the current implementation, we use a naive Gauss-Newton optimizer that may suffer from a large number of input points and correspondence outliers. I want to replace it with Levenberg-Marquardt that would be more stable, but I have been occupied with my main job and there is no ETA so far.

Anyways, thanks again for reporting. The sample data was useful to reproduce and track the problem.

from fast_gicp.