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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="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="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="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/Iterations" type="string" value="30"/>
<param name="Icp/VoxelSize" type="string" value="0.025"/> <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 --> <param name="Vis/MinInliers" type="string" value="10"/> <!-- 3D visual words minimum inliers to accept loop closure -->
launch/demo/demo_stereo_outdoor.launch
+3 -2
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@@ -17,7 +17,7 @@
<!-- Choose visualization --> <!-- Choose visualization -->
<arg name="rviz" default="true" /> <arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" /> <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"/> <param name="use_sim_time" type="bool" value="True"/>
@@ -56,10 +56,11 @@
<param name="Vis/MaxDepth" type="string" value="0"/> <param name="Vis/MaxDepth" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/> <param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="10"/> <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="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="GFTT/MinDistance" type="string" value="10"/> <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"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node> </node>
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" --> <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->