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Updated default "Icp/Epsilon" to 1 mm

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matlabbe
2016-01-12 12:29:10 -05:00
parent f39646567a
commit c1a5fecbc2
1 changed files with 1 additions and 1 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -398,7 +398,7 @@ class RTABMAP_EXP Parameters
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, 0.0, "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, 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, 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.");