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Demo multi-session: updated Kp/BadSignRatio

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matlabbe
2026-04-19 18:23:34 -07:00
parent 7c474d8522
commit 45375bb3c0
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rtabmap_demos/launch/multisession_mapping_demo.launch.py
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@@ -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 '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 'Vis/FeatureType': '1', # Referred paper used SURF (0), here use SIFT as it is available with opencv binaries
'Kp/MaxFeatures': '400', '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', 'Reg/Force3DoF': 'true',
'RGBD/OptimizeMaxError': '10', 'RGBD/OptimizeMaxError': '10',
'Optimizer/Strategy': '2', # Referred paper used TORO (0), latest version recommends GTSAM (2) 'Optimizer/Strategy': '2', # Referred paper used TORO (0), latest version recommends GTSAM (2)