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Commit f7c9b210 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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added new icp param

parent ca9d6f74
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1 merge request!33new release
......@@ -77,6 +77,7 @@ struct ParamsIcp
icp_params.do_compute_covariance = _server.getParam<bool> (_prefix_and_unique_name + "/icp/do_compute_covariance");
icp_params.cov_factor = _server.getParam<double> (_prefix_and_unique_name + "/icp/cov_factor");
icp_params.cov_max_eigv_factor = _server.getParam<double> (_prefix_and_unique_name + "/icp/cov_max_eigv_factor");
}
std::string print() const
......@@ -110,7 +111,8 @@ struct ParamsIcp
+ "/icp/use_sigma_weights" + std::to_string(icp_params.use_sigma_weights) + "\n"
+ "/icp/sigma" + std::to_string(icp_params.sigma) + "\n"
+ "/icp/do_compute_covariance" + std::to_string(icp_params.do_compute_covariance) + "\n"
+ "/icp/cov_factor" + std::to_string(icp_params.cov_factor) + "\n";
+ "/icp/cov_factor" + std::to_string(icp_params.cov_factor) + "\n"
+ "/icp/cov_max_eigv_factor" + std::to_string(icp_params.cov_max_eigv_factor) + "\n";
}
};
......
......@@ -66,6 +66,7 @@ class ProcessorLoopClosureIcp_Test : public testing::Test
params->icp_params.outliers_adaptive_mult = 2;
params->icp_params.do_compute_covariance = true;
params->icp_params.cov_factor = 1;
params->icp_params.cov_max_eigv_factor = 1;
params->icp_params.max_angular_correction_deg = 1.5;
params->icp_params.max_linear_correction = 10;
params->icp_params.epsilon_xy = 0.01;
......
......@@ -58,6 +58,7 @@
outliers_adaptive_mult: 1.5
do_compute_covariance: true
cov_factor: 1
cov_max_eigv_factor: 5
max_angular_correction_deg: 4
max_linear_correction: 10
......
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