errors when setting different dist_thresh and angle_thresh

[xjtuljy]

Hi,

I tried to modify the code to enable it to take 3D point clouds as input -- however, when the relative distance between two cameras is large (distance ~0.4 m), this code returns abnormal results with the default dist_thresh and angle_thresh, I have to manually set dist_thresh to 0.6 m, angle_thresh to 20 degree to acquire reasonable results. Any comments on this? Thanks!

[sparsebase]

The default dist_thresh is set to 0.1m. I guess if your data has larger distance, most of the points will be treated as outliers.