From cb09614a368cb696ef98747e5143c72aae3ef8df Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Tue, 2 Jul 2024 12:19:33 +0200
Subject: [PATCH] param name changed
---
include/laser_scan_utils/icp.h | 6 +++---
src/icp.cpp | 2 +-
test/gtest_icp.cpp | 8 ++++----
3 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/laser_scan_utils/icp.h b/include/laser_scan_utils/icp.h
index be8676c..2d3376f 100644
--- a/include/laser_scan_utils/icp.h
+++ b/include/laser_scan_utils/icp.h
@@ -42,7 +42,7 @@ namespace laserscanutils
double error; // Total correspondence error
double mean_error; // Average error (total error / nvalid)
double points_ratio; // Ratio of valid correspondences of totall amount of points
- unsigned int attempts; // Number of ICP calls to obtain a valid result (<= params.icp_attempts)
+ unsigned int attempts; // Number of ICP calls to obtain a valid result (<= params.attempts)
};
struct icpParams
@@ -127,7 +127,7 @@ namespace laserscanutils
double cov_max_eigv_factor; // Factor multiplying the direction of the max eigenvalue of the cov output of csm
// Attempts ------------------------------------------------------------------
- unsigned int icp_attempts; // number of icp attempts if result fails (not valid or error > restart_threshold_mean_error)
+ unsigned int attempts; // number of icp attempts if result fails (not valid or error > restart_threshold_mean_error)
double perturbation_new_attempts; // perturbation noise amplitude applied to initial guess in new attempts
// Validation ----------------------------------------------------------------
@@ -167,7 +167,7 @@ namespace laserscanutils
std::cout << "do_compute_covariance: " << std::to_string(do_compute_covariance) << std::endl;
std::cout << "cov_factor: " << std::to_string(cov_factor) << std::endl;
std::cout << "cov_max_eigv_factor: " << std::to_string(cov_max_eigv_factor) << std::endl;
- std::cout << "icp_attempts: " << std::to_string(icp_attempts) << std::endl;
+ std::cout << "attempts: " << std::to_string(attempts) << std::endl;
std::cout << "perturbation_new_attempts: " << std::to_string(perturbation_new_attempts) << std::endl;
std::cout << "max_mean_error: " << std::to_string(max_mean_error) << std::endl;
std::cout << "min_points_ratio: " << std::to_string(min_points_ratio) << std::endl;
diff --git a/src/icp.cpp b/src/icp.cpp
index 61aae0d..8909a88 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -208,7 +208,7 @@ icpOutput ICP::align(const LaserScan &_current_ls,
std::cout << "Invalid result, trying again!" << std::endl;
}
- } while (not result.valid and result.attempts < _icp_params.icp_attempts);
+ } while (not result.valid and result.attempts < _icp_params.attempts);
// if valid, copy transformation values and grow covariance
if (result.valid)
diff --git a/test/gtest_icp.cpp b/test/gtest_icp.cpp
index 13dda71..ca66669 100644
--- a/test/gtest_icp.cpp
+++ b/test/gtest_icp.cpp
@@ -268,7 +268,7 @@ TEST(TestIcp, TestIcpSame1)
// icp
auto icp_params = icp_params_default;
- icp_params.icp_attempts = n_attempts;
+ icp_params.attempts = n_attempts;
// icp_params.verbose = true;
// no perturbation
@@ -318,7 +318,7 @@ TEST(TestIcp, TestIcpSame2)
LaserScanParams scan_params = generateLaserScanParams(0, 1);
double pert = 0.0;
auto icp_params = icp_params_default;
- icp_params.icp_attempts = n_attempts;
+ icp_params.attempts = n_attempts;
for (auto i = 0; i < N; i++)
{
@@ -375,7 +375,7 @@ TEST(TestIcp, TestIcp1)
LaserScan scan_ref, scan_tar;
auto icp_params = icp_params_default;
- icp_params.icp_attempts = n_attempts;
+ icp_params.attempts = n_attempts;
double pert = 0.0;
@@ -421,7 +421,7 @@ TEST(TestIcp, TestIcp10)
LaserScan scan_ref, scan_tar;
auto icp_params = icp_params_default;
- icp_params.icp_attempts = n_attempts;
+ icp_params.attempts = n_attempts;
icp_params.verbose = true;
double pert = 0.0;
--
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