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test_velodyne.launch: added loop_ratio option to close loops in kitti dataset

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matlabbe
2021-09-24 12:05:37 -04:00
parent fd0eb4f62c
commit 136b8433c1
1 changed files with 2 additions and 1 deletions
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launch/tests/test_velodyne.launch
+2 -1
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@@ -21,6 +21,7 @@
<arg name="frame_id" default="velodyne"/>
<arg name="queue_size" default="1"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
<arg name="loop_ratio" default="0.4"/> <!-- Set to 0.2 for kitti -->
<arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
@@ -119,7 +120,7 @@
<param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
<param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
</node>
<node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">