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Add settings for hypothesis verification #2274

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merged 3 commits into from
Apr 4, 2018
Merged

Add settings for hypothesis verification #2274

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6510ee1
Add settings for hypothesis verification
mathue Apr 4, 2018
bdecc01
Add spaces for PCL standard
mathue Apr 4, 2018
9183472
Update global_hypothesis_verification.cpp
mathue Apr 4, 2018
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5 changes: 4 additions & 1 deletion ...torials/content/sources/global_hypothesis_verification/global_hypothesis_verification.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,8 @@ float cg_size_ (0.01f);
float cg_thresh_ (5.0f);
int icp_max_iter_ (5);
float icp_corr_distance_ (0.005f);
float hv_resolution_ (0.005f);
float hv_occupancy_grid_resolution_ (0.01f);
float hv_clutter_reg_ (5.0f);
float hv_inlier_th_ (0.005f);
float hv_occlusion_th_ (0.01f);
Expand Down Expand Up @@ -436,7 +438,8 @@ main (int argc,

GoHv.setSceneCloud (scene); // Scene Cloud
GoHv.addModels (registered_instances, true); //Models to verify

GoHv.setResolution (hv_resolution_);
GoHv.setResolutionOccupancyGrid (hv_occupancy_grid_resolution_);
GoHv.setInlierThreshold (hv_inlier_th_);
GoHv.setOcclusionThreshold (hv_occlusion_th_);
GoHv.setRegularizer (hv_regularizer_);
Expand Down