From 79b1d601e8a6ae0f008a76eb7368a99ac7c497a0 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 14 Mar 2016 19:27:13 -0400 Subject: [PATCH] Updated default parameter "Vis/MinInliers=20" to be more robust on odometry recovery --- 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 2de9547b..0a826022 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -392,7 +392,7 @@ class RTABMAP_EXP Parameters RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P"); RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, "[Vis/EstimationType = 1] Refine iterations."); RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation."); - RTABMAP_PARAM(Vis, MinInliers, int, 10, "Minimum feature correspondences to compute/accept the transformation."); + RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation."); RTABMAP_PARAM(Vis, Iterations, int, 100, "Maximum iterations to compute the transform."); RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK."); RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");