From 078cdf2318033ea660b9a74dc5ff62cd9d3d86a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 3 Jul 2024 10:27:45 +0200
Subject: [PATCH] new icp params

---
 yaml/csm.yaml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/yaml/csm.yaml b/yaml/csm.yaml
index e49547f..c56a348 100644
--- a/yaml/csm.yaml
+++ b/yaml/csm.yaml
@@ -44,3 +44,9 @@ sigma:                        0.2   # Noise of the scan
 do_compute_covariance:        true
 cov_factor:                   5     # Factor multiplying the cov output of csm
 cov_max_eigv_factor:          5     # Factor multiplying the direction of the max eigenvalue of the cov output of csm 
+
+# ATTEMPTS
+attempts:                     5     # If result is not valid (algorithm error, high error or low points ratio)
+perturbation_new_attempts:    1e-1  # Factor multiplying random perturbation of initial_guess from 2nd attempt
+max_mean_error:               1     # Max mean error threshold to declare result invalid
+min_points_ratio:             0.1   # Min ratio of matched points to declare result invalid
\ No newline at end of file
-- 
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