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Increase iterations for RANSAC to improve AVIA scanner performance #113

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Merged
saurabh1002 merged 2 commits into from
Apr 10, 2026
+4 −4
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Increase iterations for RANSAC to improve AVIA scanner performance #113

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113aae2
more iters on ransac helps with avia scanners
saurabh1002 Apr 10, 2026
11d8c5f
Rename __RANSAC_TRIALS__ to kRansacTrials to avoid reserved identifier
Copilot Apr 10, 2026
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2 changes: 1 addition & 1 deletion cpp/map_closures/AlignRansac2D.cpp
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Expand Up @@ -65,7 +65,7 @@ Eigen::Isometry2d KabschUmeyamaAlignment2D(
static constexpr double inliers_distance_threshold = 3.0;

// RANSAC Parameters
static constexpr double inliers_ratio = 0.3;
static constexpr double inliers_ratio = 0.1;
static constexpr double probability_success = 0.999;
static constexpr int min_points = 2;
static int __RANSAC_TRIALS__ = std::ceil(std::log(1.0 - probability_success) /

Copilot AI Apr 10, 2026

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__RANSAC_TRIALS__ uses a double-underscore identifier, which is reserved for the implementation in C++ and can lead to undefined behavior or toolchain-specific issues. Please rename this variable to a non-reserved identifier (e.g., ransac_trials / kRansacTrials) while touching these parameters.

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@saurabh1002 saurabh1002 Apr 10, 2026

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@copilot apply changes based on this feedback

Copilot AI Apr 10, 2026

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Renamed __RANSAC_TRIALS__ to kRansacTrials in commit 11d8c5f.

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