For indoor case

[CharlieV5]

Hi, dear author!
I' m testing your code with the data collected indoor and get very large drift when walking out of room and entering the corridor. The lidar is handheld and moving very slowly.

Any advices to set the parameters to fit this case?
What is the difference among NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS of motion compensation. I set CONTINUOUS and get large drift , but get smaller drift when setting CONSTANT_VELOCITY.