From 72101a6d4662490657ee4991401cba23b872b7eb Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 4 Jan 2016 12:17:02 -0500 Subject: [PATCH] Modified default "Stereo/MinDisparity" to 1 --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index 8c7cb8aa..f616713e 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -408,7 +408,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height."); RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations."); RTABMAP_PARAM(Stereo, MaxLevel, int, 3, "Maximum pyramid level."); - RTABMAP_PARAM(Stereo, MinDisparity, int, 0, "Minimum disparity."); + RTABMAP_PARAM(Stereo, MinDisparity, int, 1, "Minimum disparity."); RTABMAP_PARAM(Stereo, MaxDisparity, int, 64, "Maximum disparity."); RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used."); RTABMAP_PARAM(Stereo, SSD, bool, true, "[Stereo/OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.");