diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h index 8a4e7902b2b8f3c4a8760ef90ef5df03b7dbd756..eaeed813b2649896c2696bbbbbecd07170892e12 100644 --- a/include/laser/processor/processor_odom_icp_3d.h +++ b/include/laser/processor/processor_odom_icp_3d.h @@ -65,7 +65,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo { pcl_downsample = _server.getParam<bool>(prefix + _unique_name + "/pcl_downsample"); - vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/vote_elapsed_time"); + vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/vote_elapsed_time"); icp_max_iterations = _server.getParam<int>(prefix + _unique_name + "/icp_max_iterations"); icp_transformation_translation_epsilon = diff --git a/test/yaml/problem_odom_icp_3d.yaml b/test/yaml/problem_odom_icp_3d.yaml index 835d2077f19bdb6af2b96f9e85ff6f3903eac19a..22b5c019671c4e772879e6e150409761742c95f5 100644 --- a/test/yaml/problem_odom_icp_3d.yaml +++ b/test/yaml/problem_odom_icp_3d.yaml @@ -31,18 +31,18 @@ config: sensor_name: "Lidar" plugin: "laser" time_tolerance: 0.05 - icp_max_iterations: 20 - icp_transformation_rotation_epsilon: 0.99 - icp_transformation_translation_epsilon: 1e-6 - icp_max_correspondence_distance: 0.5 keyframe_vote: - voting_active: false + voting_active: true min_features_for_keyframe : 0 - apply_loss_function: false + vote_elapsed_time: 0.99 max_new_features: 0 + apply_loss_function: false state_getter: true state_priority: 1 + icp_max_iterations: 20 + icp_transformation_rotation_epsilon: 0.99 + icp_transformation_translation_epsilon: 1e-6 + icp_max_correspondence_distance: 0.5 pcl_downsample: true - vote_elapsed_time: 0.99