From c1a5fecbc20206adfffccd5234662e94a39b55ce Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 12 Jan 2016 12:29:10 -0500 Subject: [PATCH] Updated default "Icp/Epsilon" to 1 mm --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index ccb017f1..f2ea558f 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -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.");