From b8043665fe86794128a8920a3cc55c973abcf7f4 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 16 Sep 2015 14:37:42 -0400 Subject: [PATCH] ICP correspondences ratio increased by default to 0.3 (for ICP 2D) and 0.2 ( for ICP 3D) --- corelib/include/rtabmap/core/Parameters.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index 5fde24f2..ad24c1c9 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -389,13 +389,13 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(LccIcp3, Samples, int, 0, "Random samples to be used for ICP computation. Not used if voxelSize is set."); RTABMAP_PARAM(LccIcp3, MaxCorrespondenceDistance, float, 0.05, "ICP 3D: Max distance for point correspondences."); RTABMAP_PARAM(LccIcp3, Iterations, int, 30, "Max iterations."); - RTABMAP_PARAM(LccIcp3, CorrespondenceRatio, float, 0.0, "Ratio of matching correspondences to accept the transform."); + RTABMAP_PARAM(LccIcp3, CorrespondenceRatio, float, 0.2, "Ratio of matching correspondences to accept the transform."); RTABMAP_PARAM(LccIcp3, PointToPlane, bool, false, "Use point to plane ICP."); RTABMAP_PARAM(LccIcp3, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane."); RTABMAP_PARAM(LccIcp2, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences."); RTABMAP_PARAM(LccIcp2, Iterations, int, 30, "Max iterations."); - RTABMAP_PARAM(LccIcp2, CorrespondenceRatio, float, 0.0, "Ratio of matching correspondences to accept the transform."); + RTABMAP_PARAM(LccIcp2, CorrespondenceRatio, float, 0.3, "Ratio of matching correspondences to accept the transform."); RTABMAP_PARAM(LccIcp2, VoxelSize, float, 0.025, "Voxel size to be used for ICP computation."); // Stereo disparity