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 -- GitLab