From 34bea22ac6cdb8c5bbe26f951922cf8ef58d9ffb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 10 Aug 2022 11:25:29 +0200
Subject: [PATCH] Tune proc icp 3d yaml

---
 test/yaml/problem_odom_icp_3d.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/test/yaml/problem_odom_icp_3d.yaml b/test/yaml/problem_odom_icp_3d.yaml
index 0c2fdcc42..02f558aaa 100644
--- a/test/yaml/problem_odom_icp_3d.yaml
+++ b/test/yaml/problem_odom_icp_3d.yaml
@@ -41,11 +41,11 @@ config:
     state_getter: true
     state_priority: 1
     pcl_downsample: true
-    pcl_downsample_voxel_size: 0.2
+    pcl_downsample_voxel_size: 0.05
     icp_algorithm: "icp_nl"                        # "icp", "icp_nl", "gicp"
     icp_max_iterations:  20
     icp_transformation_rotation_epsilon:  0.99    # this is cos(alpha)
-    icp_transformation_translation_epsilon: 1e-6  # this is translation squared
-    icp_max_correspondence_distance:  0.5
+    icp_transformation_translation_epsilon: 1e-9  # this is translation squared
+    icp_max_correspondence_distance:  0.05
 
 
-- 
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