From 1f32acd8c66c09e05b727afb5945ed0c06cda03c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 5 Aug 2022 22:36:08 +0200
Subject: [PATCH] Improve YAML params
---
include/laser/processor/processor_odom_icp_3d.h | 2 +-
test/yaml/problem_odom_icp_3d.yaml | 14 +++++++-------
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h
index 8a4e7902b..eaeed813b 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 835d2077f..22b5c0196 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
--
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