chore(icp): relax ICPConfig defaults per Oracle recommendations

2026-02-10 16:44:13 +00:00
parent dae6d939e4
commit 7bdc5d6024
2 changed files with 17 additions and 6 deletions
@@ -25,14 +25,14 @@ class ICPConfig:
    max_iterations: list[int] = field(default_factory=lambda: [50, 30, 14])
    method: str = "point_to_plane"  # "point_to_plane" or "gicp"
    band_height: float = 0.3  # Near-floor band height in meters
-    min_fitness: float = 0.3  # Min ICP fitness to accept pair
-    min_overlap_area: float = 1.0  # Min XZ overlap area in m^2
+    min_fitness: float = 0.15  # Min ICP fitness to accept pair
+    min_overlap_area: float = 0.5  # Min XZ overlap area in m^2
    overlap_margin: float = 0.5  # Inflate bboxes by this margin (m)
    overlap_mode: str = "xz"  # 'xz' or '3d'
-    gravity_penalty_weight: float = 10.0  # Soft constraint on pitch/roll
-    max_correspondence_distance_factor: float = 1.4
-    max_rotation_deg: float = 5.0  # Safety bound on ICP delta
-    max_translation_m: float = 0.1  # Safety bound on ICP delta
+    gravity_penalty_weight: float = 2.0  # Soft constraint on pitch/roll
+    max_correspondence_distance_factor: float = 2.5
+    max_rotation_deg: float = 10.0  # Safety bound on ICP delta
+    max_translation_m: float = 0.3  # Safety bound on ICP delta
    region: str = "floor"  # "floor", "hybrid", or "full"
    robust_kernel: str = "none"  # "none" or "tukey"
    robust_kernel_k: float = 0.1