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Updated default RGBD/LocalLoopDetectionPathFilteringRadius to 0.25

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Mathieu Labbe
2015-04-27 18:16:04 -04:00
parent 242c3e5f1b
commit a4f11b7a3b
5 changed files with 42 additions and 31 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -298,7 +298,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionSpace, bool, false, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxDiffID, int, 50, "Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathFilteringRadius, float, 1.0, "Path filtering radius.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathFilteringRadius, float, 0.25, "Path filtering radius.");
// Graph optimization
RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO and 1=g2o.");