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Updated default parameter "Vis/MinInliers=20" to be more robust on odometry recovery

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matlabbe
2016-03-14 19:27:13 -04:00
parent d6eb923bef
commit 79b1d601e8
1 changed files with 1 additions and 1 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -392,7 +392,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, "[Vis/EstimationType = 1] Refine iterations.");
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");
RTABMAP_PARAM(Vis, MinInliers, int, 10, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, Iterations, int, 100, "Maximum iterations to compute the transform.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");