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Parameter settings for ICP

Parameters

~max_iterations (int, default: 40)

• Maximum number of iterations.

~corr_dist (double, default: 0.2)

• Maximum correlation distance.

~trf_epsilon (double, default: 3.5)

• Transformation epsilon is a convergence criterion. The actual value is calculated as power of ten with the negative value.

~outlier_rejection_threshold (double, default: 0.1)

• Maximum distance within a correspondence pair can be matched.

~use_only_last_refrence (int, default: 1)

• If set to 0 ICP will build an internal map of registered frames to register against. If set to 1 ICP registers against last frame.