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Updating demos/examples using lidar with new Icp/ReciprocalCorrespondences param

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matlabbe
2023-04-09 17:37:45 -07:00
parent fc9ca0e40d
commit 724673fae2
9 changed files with 17 additions and 9 deletions
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rtabmap_examples/launch/test_k4a_cloud_only.launch
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@@ -35,6 +35,7 @@
<!-- Odom parameters -->
<param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
<param name="OdomF2M/ScanMaxSize" type="string" value="5000"/>
<param name="Odom/ScanKeyFrameThr" type="string" value="0.5"/>
</node>
<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="-d">
rtabmap_examples/launch/test_ouster.launch
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@@ -73,6 +73,7 @@
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
rtabmap_examples/launch/test_ouster_gen2.launch
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@@ -114,6 +114,7 @@
<param name="Icp/PM" type="string" value="true"/>
<param name="Icp/PMOutlierRatio" type="string" value="0.1"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>
<param name="Icp/ReciprocalCorrespondences" type="string" value="false"/>
<!-- Odom parameters -->
<param name="Odom/ScanKeyFrameThr" type="string" value="0.8"/>
rtabmap_examples/launch/test_velodyne.launch
+1 -1
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@@ -37,7 +37,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car, kitti) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
rtabmap_examples/launch/test_velodyne_d435i_deskewing.launch
+1 -1
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@@ -36,7 +36,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
rtabmap_examples/launch/test_velodyne_t265_deskewing.launch
+1 -1
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@@ -36,7 +36,7 @@
<!-- For F2M Odometry -->
<arg name="ground_normals_up" default="false"/> <!-- set to true when velodyne is always horizontal to ground (ground robot, car) -->
<arg name="local_map_size" default="15000"/>
<arg name="key_frame_thr" default="0.6"/>
<arg name="key_frame_thr" default="0.4"/>
<!-- For FLOAM Odometry -->
<arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->