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Fixed broken 2D icp from 0.11.0

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matlabbe
2016-02-19 15:10:28 -05:00
parent d5538ee99d
commit 9b16d93481
5 changed files with 12 additions and 8 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -402,8 +402,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, VoxelSize, float, 0.025, "Uniform sampling voxel size (0=disabled).");
RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
RTABMAP_PARAM(Icp, Iterations, int, 10, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0.001, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
RTABMAP_PARAM(Icp, Epsilon, float, 0.0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.3, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");