Skip to content
Snippets Groups Projects
Commit 34bea22a authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Tune proc icp 3d yaml

parent b9d39987
No related branches found
No related tags found
1 merge request!41Draft: Resolve "New branch laser 3d"
Hide whitespace changes
Inline Side-by-side
test/yaml/problem_odom_icp_3d.yaml
+ 3
− 3
View file @ 34bea22a
...@@ -41,11 +41,11 @@ config: ...@@ -41,11 +41,11 @@ config:
state_getter: true state_getter: true
state_priority: 1 state_priority: 1
pcl_downsample: true pcl_downsample: true
pcl_downsample_voxel_size: 0.2 pcl_downsample_voxel_size: 0.05
icp_algorithm: "icp_nl" # "icp", "icp_nl", "gicp" icp_algorithm: "icp_nl" # "icp", "icp_nl", "gicp"
icp_max_iterations: 20 icp_max_iterations: 20
icp_transformation_rotation_epsilon: 0.99 # this is cos(alpha) icp_transformation_rotation_epsilon: 0.99 # this is cos(alpha)
icp_transformation_translation_epsilon: 1e-6 # this is translation squared icp_transformation_translation_epsilon: 1e-9 # this is translation squared
icp_max_correspondence_distance: 0.5 icp_max_correspondence_distance: 0.05
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment