From 45375bb3c05555a4dae58d6cbcb1628d8e8f763f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Apr 2026 18:23:34 -0700 Subject: [PATCH] Demo multi-session: updated Kp/BadSignRatio --- rtabmap_demos/launch/multisession_mapping_demo.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/rtabmap_demos/launch/multisession_mapping_demo.launch.py b/rtabmap_demos/launch/multisession_mapping_demo.launch.py index b5841039..77211c39 100644 --- a/rtabmap_demos/launch/multisession_mapping_demo.launch.py +++ b/rtabmap_demos/launch/multisession_mapping_demo.launch.py @@ -60,6 +60,7 @@ def generate_launch_description(): 'Kp/DetectorStrategy': '1', # Referred paper used SURF (0), here use SIFT as it is available with opencv binaries 'Vis/FeatureType': '1', # Referred paper used SURF (0), here use SIFT as it is available with opencv binaries 'Kp/MaxFeatures': '400', + 'Kp/BadSignRatio': '0.25', # Kp/BadSignRatio behaves differently than before if Kp/MaxFeatures is not 0, that is now a ratio of Kp/MaxFeatures directly. 'Reg/Force3DoF': 'true', 'RGBD/OptimizeMaxError': '10', 'Optimizer/Strategy': '2', # Referred paper used TORO (0), latest version recommends GTSAM (2)