From 4151b4407f9bda9a2d269b891eb7e50e276eeafe Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 22 Apr 2022 15:40:53 +0200
Subject: [PATCH] Put a high RANSAC confidence so that gtest pass
---
demos/processor_visual_odometry.yaml | 2 +-
test/processor_visual_odometry_gtest.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/demos/processor_visual_odometry.yaml b/demos/processor_visual_odometry.yaml
index 53b0c4123..dc256ca93 100644
--- a/demos/processor_visual_odometry.yaml
+++ b/demos/processor_visual_odometry.yaml
@@ -48,7 +48,7 @@ grid_params:
ransac_params:
# specifies a desirable level of confidence (probability) that the estimated matrix is correct
- ransac_prob: 0.99
+ ransac_prob: 0.999
# maximum distance from a point to an epipolar line in pixels, beyond which the point
# is considered an outlier and is not used for computing the final fundamental matrix
ransac_thresh: 1
diff --git a/test/processor_visual_odometry_gtest.yaml b/test/processor_visual_odometry_gtest.yaml
index c242cd38b..784003cac 100644
--- a/test/processor_visual_odometry_gtest.yaml
+++ b/test/processor_visual_odometry_gtest.yaml
@@ -41,7 +41,7 @@ grid_params:
ransac_params:
# specifies a desirable level of confidence (probability) that the estimated matrix is correct
- ransac_prob: 0.99
+ ransac_prob: 0.999
# maximum distance from a point to an epipolar line in pixels, beyond which the point
# is considered an outlier and is not used for computing the final fundamental matrix
ransac_thresh: 1
--
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