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StereoOdometryNode: now use default parameters Odom/MaxDepth=0 and Odom/EstimationType=1. Odometry ndoes exit directly when --params argument is detected.

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matlabbe
2015-10-01 11:37:40 -04:00
parent 24a40ceee8
commit 7d732aae7c
6 changed files with 54 additions and 51 deletions
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launch/rgbd_mapping.launch
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@@ -88,6 +88,7 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
<!-- when 2D scan is set -->
<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>