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initial_pose_estimators_pca_matchers.yaml
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initial_pose_estimators_pca_matchers.yaml
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initial_pose_estimators_matchers:
initial_pose_estimation_timeout: -1.0
publish_pointclouds_only_if_there_is_subscribers: false
point_matchers:
1_principal_component_analysis:
reload_configurations_from_parameter_server_before_alignment: true
flip_pca_z_axis_for_aligning_it_to_the_cluster_centroid_z_normal: false
flip_pca_z_axis_for_aligning_it_to_the_cluster_centroid_z_normal_reference_pointcloud: false
flip_pca_z_axis_for_aligning_it_to_the_pointcloud_custom_z_flip_axis: true
flip_pca_z_axis_for_aligning_it_to_the_pointcloud_custom_z_flip_axis_reference_pointcloud: true
flip_pca_x_axis_for_aligning_it_to_the_pointcloud_custom_x_flip_axis: true
flip_pca_x_axis_for_aligning_it_to_the_pointcloud_custom_x_flip_axis_reference_pointcloud: true
custom_z_flip_axis:
x: -1.0
y: 0.0
z: 0.0
custom_z_flip_axis_reference_pointcloud:
x: 0.0
y: 0.0
z: 1.0
custom_x_flip_axis:
x: 0.0
y: -1.0
z: 0.0
custom_x_flip_axis_reference_pointcloud:
x: 1.0
y: 0.0
z: 0.0
registered_cloud_publish_topic: 'pca_alignment'
reference_cloud_publish_topic: 'pca_alignment_reference_cloud'
tracking_matchers:
ignore_height_corrections: false
pose_tracking_timeout: 1.0
pose_tracking_minimum_number_of_failed_registrations_since_last_valid_pose: -1
pose_tracking_maximum_number_of_failed_registrations_since_last_valid_pose: -1
pose_tracking_recovery_timeout: 0.5
pose_tracking_recovery_minimum_number_of_failed_registrations_since_last_valid_pose: -1
pose_tracking_recovery_maximum_number_of_failed_registrations_since_last_valid_pose: -1