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Updated package with latest changes from lib 0.11.2. Updated demo_stereo_outdoor.launch

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matlabbe
2016-02-23 11:47:31 -05:00
parent d25c77ebba
commit 0bd147cfcf
3 changed files with 24 additions and 23 deletions
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launch/demo/demo_stereo_outdoor.launch
+13 -12
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@@ -49,12 +49,13 @@
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=BOW, 1=OpticalFlow -->
<param name="Odom/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="OdomBow/NNDR" type="string" value="0.8"/>
<param name="Odom/MaxFeatures" type="string" value="1000"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Vis/MaxDepth" type="string" value="10"/>
<param name="Vis/NNDR" type="string" value="0.8"/>
<param name="Vis/MaxFeatures" type="string" value="1000"/>
<param name="Vis/CorGuessWinSize" type="string" value="31"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
@@ -80,19 +81,19 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxWords" type="string" value="500"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
<param name="Vis/MaxFeatures" type="string" value="500"/>
<param name="Vis/MaxDepth" type="string" value="10"/>
</node>
<!-- Visualisation RTAB-Map -->