i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-10 03:49:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated multi-session ini

matlabbe
2016-11-18 00:39:00 -05:00
parent cb30d89bd7
commit 45934832db
2 changed files with 2 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/Tutorials/MultiSession/multi-session10Hz.ini
+1 -53
@@ -37,7 +37,7 @@ LccBow\Iterations=100
LccBow\MaxDepth=4
LccBow\MinInliers=5
LccIcp\Type=2
LccIcp2\CorrespondenceRatio=0.7
LccIcp2\CorrespondenceRatio=0.2
LccIcp2\Iterations=100
LccIcp2\MaxCorrespondenceDistance=0.1
LccIcp2\MaxFitness=1
@@ -51,25 +51,6 @@ Mem\RehearsalIdUpdatedToNewOne=false
Mem\RehearsalSimilarity=0.45
Mem\RehearsedNodesKept=true
Mem\STMSize=10
Odom\AngularUpdate=0
Odom\InlierDistance=0.1
Odom\Iterations=100
Odom\LinearUpdate=0
Odom\MaxDepth=5
Odom\MaxWords=0
Odom\MinInliers=10
Odom\ResetCountdown=0
Odom\Type=0
OdomBin\BriefBytes=32
OdomBin\BruteForceMatching=true
OdomBin\FastNonmaxSuppression=true
OdomBin\FastThreshold=30
OdomICP\CorrespondencesDistance=0.05
OdomICP\Decimation=4
OdomICP\Iterations=30
OdomICP\MaxFitness=0.01
OdomICP\Samples=0
OdomICP\VoxelSize=0.005
RGBD\AngularUpdate=0.01
RGBD\Enabled=true
RGBD\LinearUpdate=0.01
@@ -164,39 +145,6 @@ ORB\PatchSize=31
ORB\ScaleFactor=1.2
ORB\ScoreType=0
ORB\WTA_K=2
Odom\EstimationType=0
Odom\FeatureType=6
Odom\FillInfoData=true
Odom\Force2D=true
Odom\Holonomic=true
Odom\ImageBufferSize=1
Odom\MaxFeatures=1000
Odom\ParticleFiltering=false
Odom\ParticleLambdaR=100
Odom\ParticleLambdaT=100
Odom\ParticleNoiseR=0.002
Odom\ParticleNoiseT=0.002
Odom\ParticleSize=400
Odom\PnPFlags=1
Odom\PnPReprojError=5
Odom\RefineIterations=5
Odom\RoiRatios=0.0 0.0 0.0 0.0
Odom\Strategy=0
OdomBow\FixedLocalMapPath=
OdomBow\LocalHistorySize=1000
OdomBow\NNDR=0.8
OdomBow\NNType=3
OdomFlow\Eps=0.01
OdomFlow\Iterations=30
OdomFlow\MaxLevel=3
OdomFlow\WinSize=16
OdomMono\InitMinFlow=100
OdomMono\InitMinTranslation=0.1
OdomMono\MaxVariance=0.01
OdomMono\MinTranslation=0.02
OdomSubPix\Eps=0.02
OdomSubPix\Iterations=0
OdomSubPix\WinSize=3
RGBD\GoalReachedRadius=0.5
RGBD\GoalsSavedInUserData=false
RGBD\LocalImmunizationRatio=0.25
doc/Tutorials/MultiSession/multi-session1Hz.ini
+1 -20
@@ -37,7 +37,7 @@ LccBow\Iterations=100
LccBow\MaxDepth=4
LccBow\MinInliers=5
LccIcp\Type=2
LccIcp2\CorrespondenceRatio=0.7
LccIcp2\CorrespondenceRatio=0.2
LccIcp2\Iterations=100
LccIcp2\MaxCorrespondenceDistance=0.1
LccIcp2\MaxFitness=1
@@ -51,25 +51,6 @@ Mem\RehearsalIdUpdatedToNewOne=false
Mem\RehearsalSimilarity=0.45
Mem\RehearsedNodesKept=true
Mem\STMSize=10
Odom\AngularUpdate=0
Odom\InlierDistance=0.005
Odom\Iterations=100
Odom\LinearUpdate=0
Odom\MaxDepth=5
Odom\MaxWords=0
Odom\MinInliers=10
Odom\ResetCountdown=10
Odom\Type=0
OdomBin\BriefBytes=32
OdomBin\BruteForceMatching=true
OdomBin\FastNonmaxSuppression=true
OdomBin\FastThreshold=30
OdomICP\CorrespondencesDistance=0.05
OdomICP\Decimation=4
OdomICP\Iterations=30
OdomICP\MaxFitness=0.01
OdomICP\Samples=0
OdomICP\VoxelSize=0.005
RGBD\AngularUpdate=0.01
RGBD\Enabled=true
RGBD\LinearUpdate=0.01