Donghq comments

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                                            Donghq

Functionality?

Hi Ellon, thanks for your wonderful work! I have one question that how to config " localizer_ptr_->SetInputFiltersConfig(localizer_input_filters_config); localizer_ptr_->SetIcpConfig(localizer_icp_config); loop_closer_ptr_->SetIcpConfig(loop_closer_icp_config); " ? Could you give me example about config_file? thanks again

为啥在eurocV1_01_easy上运行后面就发散了？

> > 可以调试这个参数试试 > > https://github.com/HeYijia/VINS-Course/blob/master/src/backend/problem.cc#L519 > > double tau = 1e-9; // 1e-7 1e-3 原始参数是1e-5我都试过，1e-3刚开始就挂了，1e-7和1e-9在和1e-5差不多的时候挂的 ![image](https://user-images.githubusercontent.com/30526360/79032548-08444400-7bda-11ea-9ef3-e7e3f4be7cfe.png) 这个tau是什么意思？改变他我感觉解决不了这个问题 tao只是改变lm的步长，详细请看ceres的实现

type object 'gtsam.gtsam.Pose3' has no attribute 'identity'

> @543630836 If you are getting `type object 'gtsam.gtsam.Pose3' has no attribute 'identity'` error, then the problem is with NeRF-SLAM not GTSAM. > > Try cloning [this](https://github.com/jrpowers/NeRF-SLAM) and follow the...

Hello, it cannot run when the parameter file is replaced with mid360

> _No description provided._ it Runs ok, param should be tuned slightly

Hello，I was visualizing the effect on the kitti data set, but I found that the effect was not particularly good and there was a lot of noise. Is this normal?

> > 我用的作者提供的kitti数据集和fast lio2进行测试的，作者在数据中提供了真值，并且fast lio2代码也做了修改。 > > […](#) > > ---Original--- From: _**@**_._**> Date: Thu, Mar 28, 2024 12:10 PM To: _**@**_.**_>; Cc: _**@**_._**_**@**_.**_>; Subject: Re: [hku-mars/M-detector] Hello，I was visualizing...