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recovery_2d.yaml
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recovery_2d.yaml
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tracking_recovery_matchers:
point_matchers:
iterative_closest_point:
# iterative_closest_point_2d:
# iterative_closest_point_non_linear:
# iterative_closest_point_generalized:
convergence_time_limit_seconds: 0.75
max_correspondence_distance: 5.0
transformation_epsilon: 0.000001
euclidean_fitness_epsilon: 0.000001
max_number_of_registration_iterations: 200
max_number_of_ransac_iterations: 100
ransac_outlier_rejection_threshold: 0.05
match_only_keypoints: false
display_cloud_aligment: false
maximum_number_of_displayed_correspondences: 0
# gicp
rotation_epsilon: 0.002
correspondence_randomness: 50
maximum_optimizer_iterations: 100
use_reciprocal_correspondences: false
transformation_validators_tracking_recovery:
euclidean_transformation_validator:
max_transformation_angle: 2.09
max_transformation_distance: 1.0
max_new_pose_diff_angle: 3.14
max_new_pose_diff_distance: 2.5
max_root_mean_square_error: 0.05
max_outliers_percentage: 0.66