Same defaults for ROS and CPP (#431)

* Same defaults everywhere * Fix black
PRBonn · Jan 27, 2025 · 922c779 · 922c779
1 parent be74a8e
commit 922c779
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/cpp/kiss_icp/pipeline/KissICP.hpp b/cpp/kiss_icp/pipeline/KissICP.hpp
@@ -37,7 +37,7 @@ struct KISSConfig {
     // map params
     double voxel_size = 1.0;
     double max_range = 100.0;
-    double min_range = 5.0;
+    double min_range = 0.0;
     int max_points_per_voxel = 20;
 
     // th parms
@@ -50,7 +50,7 @@ struct KISSConfig {
     int max_num_threads = 0;
 
     // Motion compensation
-    bool deskew = false;
+    bool deskew = true;
 };
 
 class KissICP {

diff --git a/ros/launch/odometry.launch.py b/ros/launch/odometry.launch.py
@@ -38,8 +38,8 @@
 class config:
     # Preprocessing
     max_range: float = 100.0
-    min_range: float = 5.0
-    deskew: bool = False
+    min_range: float = 0.0
+    deskew: bool = True
 
     #  Mapping parameters
     voxel_size: float = max_range / 100.0