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Added OdomLOAM/Resolution parameter

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matlabbe
2021-09-22 10:48:59 -04:00
parent cff0d15460
commit 5f65618d40
6 changed files with 111 additions and 69 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -535,6 +535,7 @@ class RTABMAP_EXP Parameters
// Odometry LOAM
RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");