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

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matlabbe
2016-11-24 16:38:31 -05:00
parent 571f225786
commit 295ae0cee0
1 changed files with 5 additions and 2 deletions
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launch/demo/demo_multi-session_mapping.launch
+5 -2
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@@ -33,7 +33,7 @@
<!-- 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/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/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
@@ -51,7 +51,10 @@
<param name="Kp/MaxFeatures" type="string" value="400"/>
<param name="Optimizer/Slam2D" 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>
<!-- Visualisation RTAB-Map -->