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Parameters: set default Icp/PointToPlaneRadius to 0 to avoid 'Both radius and K defined' error when using 3d lidar.

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matlabbe
2022-01-16 12:56:18 -05:00
parent 5f55f63443
commit 9622fe8393
1 changed files with 1 additions and 1 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -670,7 +670,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
#endif
RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 1.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept \"as is\" the transform computed by PointToPoint.", kIcpPointToPlaneMinComplexity().c_str()));