i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: added publish_map service to rtabmap node. Updated demo_find_object.launch with higher icp2d constraints

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1645 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-13 19:25:44 +00:00
parent 4e3c30d8ed
commit 36c647e6fe
4 changed files with 187 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/demo/demo_find_object.launch
+2
View File
@@ -30,6 +30,8 @@
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/> <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
<param name="LccIcp/Type" type="string" value="2"/> <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccIcp2/CorrespondenceRatio" type="string" value="0.9"/>
<param name="LccIcp2/MaxFitness" type="string" value="0.1"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
<param name="LccIcp2/VoxelSize" type="string" value="0"/>
<param name="LccBow/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->