Method setupParams

sloam/src/tests/cylinder_test.cpp:38–62

  }

  void setupParams()
  {

    params.scansPerSweep = 1;
    params.maxLidarDist = 30.0;
    params.maxGroundLidarDist = 30.0;
    params.minGroundLidarDist = 0.0;

    params.groundRadiiBins = 1;
    params.groundThetaBins = 1;
    params.groundMatchThresh = 2.0;
    params.groundRetainThresh = 0.1;

    params.maxTreeRadius = 0.3;
    params.maxAxisTheta = 10;
    params.maxFocusOutlierDistance = 0.5;
    params.roughTreeMatchThresh = 3.0;
    params.treeMatchThresh = 1.0;

    params.AddNewTreeThreshDist = 2.0;

    params.featuresPerTree = 2;
    params.numGroundFeatures = 3;
    params.defaultTreeRadius = 0.1;
  }

  std::vector<std::vector<TreeVertex>> landmarks;
  FeatureModelParams params;