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ICP correspondences ratio increased by default to 0.3 (for ICP 2D) and 0.2 ( for ICP 3D)

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matlabbe
2015-09-16 14:37:42 -04:00
parent 09b456f132
commit b8043665fe
1 changed files with 2 additions and 2 deletions
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corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -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, 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, MaxCorrespondenceDistance, float, 0.05, "ICP 3D: Max distance for point correspondences.");
RTABMAP_PARAM(LccIcp3, Iterations, int, 30, "Max iterations."); 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, 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(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, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
RTABMAP_PARAM(LccIcp2, Iterations, int, 30, "Max iterations."); 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."); RTABMAP_PARAM(LccIcp2, VoxelSize, float, 0.025, "Voxel size to be used for ICP computation.");
// Stereo disparity // Stereo disparity