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updated default OdomBow/NNDR and LccReextract/NNDR to 0.8

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Mathieu Labbe
2015-03-02 05:49:43 -05:00
parent ee7a5f591a
commit f108c0753b
1 changed files with 2 additions and 2 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -317,7 +317,7 @@ class RTABMAP_EXP Parameters
// Odometry Bag-of-words
RTABMAP_PARAM(OdomBow, LocalHistorySize, int, 1000, "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
RTABMAP_PARAM(OdomBow, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
RTABMAP_PARAM(OdomBow, NNDR, float, 0.9, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM(OdomBow, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
// Odometry common stuff between BOW and Optical Flow approaches
RTABMAP_PARAM(OdomFlow, WinSize, int, 16, "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
@@ -340,7 +340,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(LccBow, Force2D, bool, false, "Force 2D transform (3Dof: x,y and yaw).");
RTABMAP_PARAM_COND(LccReextract, Activated, bool, RTABMAP_NONFREE, false, true, "Activate re-extracting features on global loop closure.");
RTABMAP_PARAM(LccReextract, NNType, int, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
RTABMAP_PARAM(LccReextract, NNDR, float, 0.9, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM(LccReextract, NNDR, float, 0.8, "NNDR: nearest neighbor distance ratio.");
RTABMAP_PARAM(LccReextract, FeatureType, int, 4, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(LccReextract, MaxWords, int, 600, "0 no limits.");