dlr1516 / grd

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

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Maybe a bug?

xbcdbc opened this issue · comments

commented

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

Well, I think you refer to line 221:

double g0 = sqrt(0.5 * M_PI) * (1.0 - std::erf(ratio / sqrt(2.0)));

whereas from (14) in the paper it should be

double g0 = sqrt(0.5 * M_PI) * (1.0 + std::erf(ratio / sqrt(2.0)));

I have to check my notes before properly answering. I thank you for your check.