From f7c9b210d6435935ade0d3a273096a7fa7067055 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Mon, 4 Apr 2022 14:38:34 +0200
Subject: [PATCH] added new icp param
---
include/laser/processor/params_icp.h | 4 +++-
test/gtest_processor_loop_closure_icp.cpp | 1 +
test/yaml/params_processor_loop_closure_falko.yaml | 1 +
3 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/include/laser/processor/params_icp.h b/include/laser/processor/params_icp.h
index bfafa5dc0..9c57708c3 100644
--- a/include/laser/processor/params_icp.h
+++ b/include/laser/processor/params_icp.h
@@ -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";
}
};
diff --git a/test/gtest_processor_loop_closure_icp.cpp b/test/gtest_processor_loop_closure_icp.cpp
index 491e22aaf..a2d911e22 100644
--- a/test/gtest_processor_loop_closure_icp.cpp
+++ b/test/gtest_processor_loop_closure_icp.cpp
@@ -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;
diff --git a/test/yaml/params_processor_loop_closure_falko.yaml b/test/yaml/params_processor_loop_closure_falko.yaml
index a936e3029..27f8284dc 100644
--- a/test/yaml/params_processor_loop_closure_falko.yaml
+++ b/test/yaml/params_processor_loop_closure_falko.yaml
@@ -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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