From 248b1bdf58eab4b5fa76cbec0376bceb26c6f4b7 Mon Sep 17 00:00:00 2001 From: Mathieu Labbe Date: Thu, 4 Dec 2014 16:44:28 -0500 Subject: [PATCH] updated NNDR to 0.9 for reextraction too --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index d0a24605..c1e905f3 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -334,7 +334,7 @@ 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, 0.7, "NNDR: nearest neighbor distance ratio."); + RTABMAP_PARAM(LccReextract, NNDR, float, 0.9, "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.");