improve RANSAC parameters

It's still not good, but at least it does not look for cylinders of size 1m anymore.
moveit · May 3, 2021 · dd8a182 · dd8a182
1 parent 7a0ece8
commit dd8a182
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/doc/perception_pipeline/src/detect_and_add_cylinder_collision_object_demo.cpp b/doc/perception_pipeline/src/detect_and_add_cylinder_collision_object_demo.cpp
@@ -248,11 +248,11 @@ class CylinderSegment
     // Set the normal angular distance weight
     segmentor.setNormalDistanceWeight(0.1);
     // run at max 1000 iterations before giving up
-    segmentor.setMaxIterations(10000);
+    segmentor.setMaxIterations(1000);
     // tolerance for variation from model
-    segmentor.setDistanceThreshold(0.05);
+    segmentor.setDistanceThreshold(0.008);
     // min max values of radius in meters to consider
-    segmentor.setRadiusLimits(0.0, 1.0);
+    segmentor.setRadiusLimits(0.01, 0.1);
     segmentor.setInputCloud(cloud);
     segmentor.setInputNormals(cloud_normals);