From 30eabe93f12cbaa365b5de4c59c4e0b0e14e12a9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 30 Apr 2018 20:52:05 -0400
Subject: [PATCH] updated main demo launch files' parameters

---
 launch/demo/demo_find_object.launch           | 2 +-
 launch/demo/demo_multi-session_mapping.launch | 8 ++++----
 launch/demo/demo_stereo_outdoor.launch        | 5 +++--
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/launch/demo/demo_find_object.launch b/launch/demo/demo_find_object.launch
index abe1d058..7183ef2a 100644
--- a/launch/demo/demo_find_object.launch
+++ b/launch/demo/demo_find_object.launch
@@ -33,7 +33,7 @@
 	  <param name="RGBD/ProximityBySpace"     type="string" value="true"/>  <!-- Proximity detection (using estimated position) with locations in WM -->
 	  <param name="Mem/BadSignaturesIgnored"  type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
 	  <param name="Reg/Strategy"              type="string" value="1"/>     <!-- Registration strategy: 0=visual, 1=ICP, 2=visual+ICP -->
-	  <param name="Icp/CorrespondenceRatio"   type="string" value="0.3"/>
+	  <param name="Icp/CorrespondenceRatio"   type="string" value="0.2"/>
 	  <param name="Icp/Iterations"            type="string" value="30"/>
 	  <param name="Icp/VoxelSize"             type="string" value="0.025"/>
 	  <param name="Vis/MinInliers"            type="string" value="10"/>    <!-- 3D visual words minimum inliers to accept loop closure -->
diff --git a/launch/demo/demo_multi-session_mapping.launch b/launch/demo/demo_multi-session_mapping.launch
index 710172ce..7ded343f 100644
--- a/launch/demo/demo_multi-session_mapping.launch
+++ b/launch/demo/demo_multi-session_mapping.launch
@@ -52,10 +52,10 @@
 	<param name="Kp/MaxFeatures"             type="string" value="400"/>
 	<param name="Reg/Force3DoF"              type="string" value="true"/> 
 	<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 -->
-        <param name="Grid/FromDepth"             type="string" value="false"/>
+	<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 -->
+	<param name="Grid/FromDepth"             type="string" value="false"/>
   </node>
   
   <!-- Visualisation RTAB-Map -->
diff --git a/launch/demo/demo_stereo_outdoor.launch b/launch/demo/demo_stereo_outdoor.launch
index 85a4d042..de2f17ca 100644
--- a/launch/demo/demo_stereo_outdoor.launch
+++ b/launch/demo/demo_stereo_outdoor.launch
@@ -17,7 +17,7 @@
    <!-- Choose visualization -->
    <arg name="rviz" default="true" />
    <arg name="rtabmapviz" default="false" />
-   <arg name="local_bundle" default="false" />
+   <arg name="local_bundle" default="true" />
     
    <param name="use_sim_time" type="bool" value="True"/>
    
@@ -56,10 +56,11 @@
          <param name="Vis/MaxDepth"       type="string" value="0"/>
          <param name="Odom/GuessMotion" type="string" value="true"/>
          <param name="Vis/MinInliers"     type="string" value="10"/>
-         <param if="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="1"/>
+         <param unless="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="0"/>
          <param name="OdomF2M/MaxSize"    type="string" value="1000"/> 
          <param name="GFTT/MinDistance"   type="string" value="10"/>
          <param name="GFTT/QualityLevel"  type="string" value="0.00001"/> 
+         <param name="GFTT/QualityLevel"  type="string" value="0.00001"/>
       </node>
    
       <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->