i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-12 20:49:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

multi-session demo: use TORO by default and disabled incremental flann like in the paper

Browse Source
This commit is contained in:
matlabbe
2016-11-24 16:38:31 -05:00
parent 571f225786
commit 295ae0cee0
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/demo/demo_multi-session_mapping.launch
+4 -1
View File
@@ -33,7 +33,7 @@
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. --> <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/NeighborLinkRefining" type="string" value="false"/> <param name="RGBD/NeighborLinkRefining" type="string" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="false"/> <param name="RGBD/ProximityBySpace" type="string" value="false"/> <!-- Referred paper did only global loop closure detection -->
<param name="RGBD/ProximityByTime" type="string" value="false"/> <param name="RGBD/ProximityByTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <param name="Reg/Strategy" type="string" value="1"/>
@@ -52,6 +52,9 @@
<param name="Optimizer/Slam2D" type="string" value="true"/> <param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Force3DoF" type="string" value="true"/> <param name="Reg/Force3DoF" type="string" value="true"/>
<param name="RGBD/OptimizeMaxError" type="string" value="0.25"/> <param name="RGBD/OptimizeMaxError" type="string" value="0.25"/>
<param name="Optimizer/Strategy" type="string" value="0"/> <!-- TORO is the most stable for multi-session mapping -->
<param name="Optimizer/Iterations" type="string" value="100"/>
<param name="Kp/IncrementalFlann" type="string" value="false"/> <!-- Referred paper didn't use incremental FLANN -->
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->