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ros-pkg: updated az3 stereo launch file with optimization

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1856 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:53:46 +00:00
parent 0469106792
commit 2599e3ecfb
4 changed files with 35 additions and 14 deletions
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launch/azimut3/az3_mapping_robot_stereo.launch
+7 -9
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@@ -67,17 +67,15 @@
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="Rtabmap/DetectionRate" type="string" value="0.5"/>
<param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="Kp/WordsPerImage" type="string" value="100"/>
<param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MaxDepth" type="string" value="10"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
launch/tests/test_stereo_mapping.launch
+2 -2
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@@ -93,7 +93,7 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
@@ -102,7 +102,7 @@
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
launch/tests/test_stereo_mapping_bag.launch
+2 -3
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@@ -48,7 +48,6 @@
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
@@ -80,7 +79,7 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
@@ -89,7 +88,7 @@
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>