From 4c53972dc8ad0e0b0f129e4c3752865a98f2193d Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 3 Apr 2014 20:16:47 +0000 Subject: [PATCH] Changed default for parameters OdomMinInliers=10 and OdomInlierDistance=0.01 git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1289 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- corelib/include/rtabmap/core/Parameters.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index faf0f93f..fb5c10d9 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -220,8 +220,8 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Odom, LinearUpdate, float, 0.0, "Min linear displacement to update odometry."); RTABMAP_PARAM(Odom, AngularUpdate, float, 0.0, "Min angular displacement to update odometry."); RTABMAP_PARAM(Odom, MaxWords, int, 0, "0 no limits."); - RTABMAP_PARAM(Odom, InlierDistance, float, 0.005, "Maximum distance for visual word correspondences."); - RTABMAP_PARAM(Odom, MinInliers, int, 20, "Minimum visual word correspondences to compute geometry transform."); + RTABMAP_PARAM(Odom, InlierDistance, float, 0.01, "Maximum distance for visual word correspondences."); + RTABMAP_PARAM(Odom, MinInliers, int, 10, "Minimum visual word correspondences to compute geometry transform."); RTABMAP_PARAM(Odom, Iterations, int, 100, "Maximum iterations to compute the transform from visual words."); RTABMAP_PARAM(Odom, MaxDepth, float, 5.0, "Max depth of the words (0 means no limit)."); RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).")