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Added Icp/ReciprocalCorrespondences (new default true)

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matlabbe
2023-04-06 20:57:35 -07:00
parent 141f2d3334
commit 8b8a512cbb
8 changed files with 396 additions and 359 deletions
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2
docker/jfr2018/run_kitti_datasets.sh
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@@ -78,7 +78,7 @@ then
fi
SCAN="--Icp/PointToPlane false --Icp/Iterations 10 --Odom/ScanKeyFrameThr 0.8 $SCAN"
fi
SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 $SCAN"
SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 --Icp/ReciprocalCorrespondences false $SCAN"
fi
RTABMAP_KITTI_TOOL="rtabmap-kitti_dataset"