From 3edb133727fd212581925220a3b0c0ff80c243a4 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 13 Jun 2016 14:37:19 -0400 Subject: [PATCH] Increased default Stereo/MaxDisparity to 128 --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index a2442730..8a41f04f 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -442,7 +442,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations."); RTABMAP_PARAM(Stereo, MaxLevel, int, 3, "Maximum pyramid level."); RTABMAP_PARAM(Stereo, MinDisparity, int, 1, "Minimum disparity."); - RTABMAP_PARAM(Stereo, MaxDisparity, int, 64, "Maximum disparity."); + RTABMAP_PARAM(Stereo, MaxDisparity, int, 128, "Maximum disparity."); RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used."); RTABMAP_PARAM(Stereo, SSD, bool, true, "[Stereo/OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used."); RTABMAP_PARAM(Stereo, Eps, double, 0.01, "[Stereo/OpticalFlow = true] Epsilon stop criterion.");