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updated main demo launch files' parameters

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matlabbe
2018-04-30 20:52:05 -04:00
parent 2c64849807
commit 30eabe93f1
3 changed files with 8 additions and 7 deletions
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launch/demo/demo_find_object.launch
+1 -1
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@@ -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 -->
launch/demo/demo_multi-session_mapping.launch
+4 -4
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@@ -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 -->
launch/demo/demo_stereo_outdoor.launch
+3 -2
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@@ -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" -->