From 798eb2330bb8f9bc4b93af3ac173107d721da992 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 6 Nov 2015 14:46:35 -0500 Subject: [PATCH] Updated default badSignThr parameter --- corelib/include/rtabmap/core/Parameters.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index 19538f2c..1e8b5acf 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -208,7 +208,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, "When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary doubles in size)."); RTABMAP_PARAM(Kp, MaxDepth, float, 0.0, "Filter extracted keypoints by depth (0=inf)"); RTABMAP_PARAM(Kp, WordsPerImage, int, 400, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction)."); - RTABMAP_PARAM(Kp, BadSignRatio, float, 0.2, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)."); + RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)."); RTABMAP_PARAM_COND(Kp, NndrRatio, float, RTABMAP_NONFREE, 0.8, 0.9, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)"); RTABMAP_PARAM_COND(Kp, DetectorStrategy, int, RTABMAP_NONFREE, 0, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK."); RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood."); @@ -230,7 +230,7 @@ class RTABMAP_EXP Parameters // Keypoints descriptors/detectors RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)."); - RTABMAP_PARAM(SURF, HessianThreshold, float, 150.0, "Threshold for hessian keypoint detector used in SURF."); + RTABMAP_PARAM(SURF, HessianThreshold, float, 500.0, "Threshold for hessian keypoint detector used in SURF."); RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use."); RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave."); RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");